在过去的二十年中,生物启发的扑翼微型飞行器(FWMAV)已经成为一种有前途的新型机器人。它们的高推力重量比,多功能性,安全,和机动性,特别是在小尺度上,可以使它们比固定翼和多旋翼飞行器更适合各种应用,尤其是在杂乱的地方,封闭的环境和靠近人类的地方,flora,和动物。与天然传单不同,然而,大多数FWMAV目前的起飞和着陆能力有限。天然传单能够毫不费力地从各种表面和复杂的环境中起飞和降落。在扑翼机器人上模仿这种功能将大大提高其实际应用。这篇综述概述了FWMAV的起飞和着陆技术,涵盖不同的方法和机制设计,以及动力学和控制方面。栖息的特殊情况也包括在内。除了专门讨论FWMAV的解决方案外,我们还提出了解决方案,已经开发了不同类型的机器人,但可能适用于拍翼的。比较了不同的方法,并评估了它们对不同应用和不同类型机器人的适用性。此外,确定了研究和技术差距,并确定了有希望的未来工作方向。
Bioinspired flapping-wing micro aerial vehicles (FWMAVs) have emerged over the last two decades as a promising new type of robot. Their high thrust-to-weight ratio, versatility, safety, and maneuverability, especially at small scales, could make them more suitable than fixed-wing and multi-rotor vehicles for various applications, especially in cluttered, confined environments and in close proximity to humans, flora, and fauna. Unlike natural flyers, however, most FWMAVs currently have limited take-off and landing capabilities. Natural flyers are able to take off and land effortlessly from a wide variety of surfaces and in complex environments. Mimicking such capabilities on flapping-wing robots would considerably enhance their practical usage. This
review presents an overview of take-off and landing techniques for FWMAVs, covering different approaches and mechanism designs, as well as dynamics and control aspects. The special case of perching is also included. As well as discussing solutions investigated for FWMAVs specifically, we also present solutions that have been developed for different types of robots but may be applicable to flapping-wing ones. Different approaches are compared and their suitability for different applications and types of robots is assessed. Moreover, research and technology gaps are identified, and promising future work directions are identified.