Position Control based on Pivot Transition of Adhesive Drone on Uneven surface

Abstract

In this study, we propose a position control of adhesive drone based on the pivot transition by the two passive rotating mechanism. In order to adhere to uneven surface, Universal Vacuum Gripper (hereinafter, UVG) is used for the adhesion to the uneven surface, and two UVGs are rotated by a pivot one by one to control the suction position. As an application, we aim to realize the adhesive drone system that can perform fixed-point observation and fine movement in the inspection of narrow areas of less than 432.8 mm, which is the average shoulder width in Japanese.