Autonomous perching and take-off on vertical walls for a quadrotor micro air vehicle

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Abstract
This paper details an autonomous perching and take-off method for a quadrotor micro air vehicle (MAV) using a novel dry adhesive gripper on smooth vertical walls. The gripper mechanism uses three directional dry adhesive pads in a triangular configuration. Each pad is equipped with a force sensor that can detect the pad's loading condition. A servo motor is used to actuate the attachment and detachment of the gripper, which is mounted in the front of a quadrotor MAV. This makes perching possible by simply flying toward and hitting the target surface. Autonomous control is made possible using a Microsoft Kinect to localize the MAV and a PID controller to control the perching maneuver. Experiments show that a minimum speed of 0.4m/s is required to guarantee a successful perch. Also, in 93% of the experiments in which the MAV hits the target at a speed higher than 0.4m/s, the perching maneuver is successful. To initiate a take-off procedure, a release signal is sent to the servo and the gripper is detached from the wall by pulling the adhesive away from the surface. Once the gripper is detached, the MAV becomes airborne again and the control system stabilizes the flight.