0

Morpho-functional Drones

Dario FloreanoEPFL, Switzerland

vehicle mass (g)100 101 102 103

flight

tim

e (m

in)

10-1

100

101

102

12

3

456

7

8

9

10

11

1213 14

15

16 17

1819

20

21

22

2324

2526

27281 Nanohummingbird2 Delfly explorer3 Delfly micro4 H2Bird5 Caltech Microbat6 Bionic Bird7 Avitron V2.08 36cm Ornithopter9 28cm Ornithopter10 15cm Ornithopter11 10cm Ornithopter12 Parot bebop drone13 PD-100 Black Hornet PRS14 DJI Phantom 215 Seiko-Epson uFR-II16 Walkera Ladybug V217 Mini X618 350QX219 AR Drone 220 QR Y10021 QR W100S

22 Sensefly eBee23 Black Widow24 Wasp III25 U. Florida MAV26 H301S27 Diamond 600 EP28 EPFL MC2

Flapping-wingRotorcraftFixed-wing

Floreano & Wood, Nature, 2015

4

Costal break

Flexionline

Dual stiffness wing [2]Sturdy yet flexible exoskeleton [1]

[2] A. M. Mountcastle and S. a Combes, “Biomechanical strategies for mitigating collision damage in insect wings: structural design versus embedded elastic materials,” J. Exp. Biol., vol. 217, no. December, pp. 1108–1115, 2014.

[1] K. Jayaram and R. J. Full, “Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot,” Proc. Natl. Acad. Sci. , vol. 113, no. 8, pp. E950–E957, Feb. 2016.

How do insects cope with collisions?

Mintchev, de Rivaz, Floreano, IEEE Robotics & Automation Letters, 2017 Stefano

Mintchev

The Size Problem

Foldable Wings

Saito et al., PNAS, 2014

1-2.5% of total weight20-200 ms deployment time

Collision and crash resilientHigh surface reduction(folding ratio up to 10)

Mintchev, Daler, L’Eplattanier, Saint_Raymond, Floreano, ICRA, 2015 Stefano

MintchevLudovicDaler

Mintchev and Floreano, Proceedings of IEEE SSRR, 2016

StefanoMintchev

Mintchev, Shintake, & Floreano (2018) Science Robotics

Bio-inspired Origami

StefanoMintchev

JunShintake

Mintchev, Shintake, & Floreano (2018) Science Robotics

• Folding ratio of 4• 1 Degree-of-Freedom mechanism

[1] F. Haas and R. J. Wootton, “Two Basic Mechanisms in Insect Wing Folding,” Proc. R. Soc. B Biol. Sci., 1996

[2] F. Haas et al., “The function of resilin in beetle wings”, Proc. R. Soc. B Biol. Sci., 2000

[1]

Tip crease pattern

ϕ

[2]Root crease pattern

Crease Patterns in Coleopterans Wings

Surface folding ratio 3.8Wingspan folding ratio 2.2 Stefano

Mintchev

Folding & Wrapping Drone Kornatowski, Mintchev, Heitz, Floreano, IROS 2017

StefanoMintchev

PrzemekKornatowski

GregoireHeitz

>150 drone deliveries EPFL campus, Aug. 2017

Kornatowski, Bhaskaran, Heitz, Mintchev, Floreano, IEEE Robotics and Automation Letters, 2018

Forceful Manipulation

Atlas robot, Boston Dynamics Cicada killer wasp

Estrada, Mintchev, Christensen, Cutkosky, Floreano Science Robotics, 2018

Estrada, Mintchev, Christensen, Cutkosky, Floreano Science Robotics, 2018

MattEstrada

StefanoMintchev

MarkCutkosky

DavidChristensen

Estrada, Mintchev, Christensen, Cutkosky, Floreano Science Robotics, 2018

A morphological change that minimizes cost of transportation in different conditions of locomotion

Source: Tennekes (1996), The simple Science of Flight, MIT Press

PIGEON FALCON

Feathered Morphing Drone Di Luca, Mintchev, Heitz, Noca, Floreano Interface Focus, 2017

StefanoMintchev

FlavioNoca

MatteoDi Luca

GregoireHeitz

Ground capabilities• Forward speed 0.2m/s (0.7BL/s)

• Rotation speed 25 /s

Air capabilities• Cruise speed 14m/s• Autonomy 30min.

Daler, Lecoeur, Hählen, Floreano, IROS Proceedings, 2013 Ludovic

DalerJulien

Lecoeur

Advanced M

aterials, Vol. 28, 2016, No. 46, pages 10105–10342

w

ww

.advmat.de

Vol. 28 • No. 46 • December 14 • 2016

www.advmat.de

ADMA_28_46_cover.indd 1 14/11/16 8:14 PM

Tonazzini, Mintchev, Schubert, Shintake, Mazzolai, Floreano

Advanced Materials, 2016

StefanoMintchev

AliceTonazzini

JunShintake

BarbaraMazzolai

BryanSchubert

Reconfigurable Drone

Tonazzini, Mintchev, Schubert, Shintake, Mazzolai, FloreanoAdvanced Materials, 2016