Bioinspired Compliant Limbs For Robust Landing Of Free-Flying Robots

Abstract

Traditional landing gear consists of rigid linkages with dampers. They require a flat surface to function. In unstructured environments such as lunar craters or the martian polar region, these conditions are not always met. In this work, we equip a conventional quadrotor with four continuously deformable passive landing limbs with a logarithmic spiral geometry. By choosing the right geometric design as well as tension on the tendon running through the length of the limbs, we ensure that the limbs support the overall weight while passively complying to the environment. Hence, no active control during the landing process is needed in order to adapt to irregular ground. In a set of experiments, these compliant limbs showcase their ability to adjust to uneven landing terrain while maintaining the horizontal attitude of the base vehicle. Overall, this work highlights the future potential to access more challenging environments, leveraging physical compliance for robust landings.