A collision-resilient aerial vehicle with icosahedron tensegrity structure

Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology used to design a collision resilient aerial vehicle with icosahedron tensegrity structure. A simplified stress analysis of the tensegrity frame under impact forces is performed to guide the selection of its components. In addition, an autonomous controller is presented to reorient the vehicle from an arbitrary orientation on the ground to help it take off. Experiments show that the vehicle can successfully reorient itself after landing upside-down and can survive collisions with speed up to 6.5m/s.

• Publication year

  2020

• Venue

  IEEE/RJS International Conference on Intelligent RObots and Systems

• Publication date

  2020-03-06

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/IROS45743.2020.9341236arXiv 2003.03417
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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