A Lightweight Beak-Like Sensing System for Grasping Tasks of Flapping Aerial Robots

Many sensor systems in robotics are bio-inspired by similar mechanisms living creatures. Birds frequently use their beaks to grasp and manipulate objects. This work proposes a very lightweight system that emulates bird’s beak, thus allowing flapping aerial robots interact with the environment, as e.g. perform grasping or manipulation tasks. The is composed of flexible link (beam) actuated micro servomotor, two strain gauges placed on different points rigid opposed. Additionally, new algorithm also developed estimates instant at which beak impacts an object, contact position exerted force. Our outperforms existing designs applications, because it lightweight, small, cheap, low computational load without any complementary perception. It demonstrated adequate placement allow estimation point force between beam accuracy achieved enough reckon properties object develop control systems. validation has been made reported through finite-element simulations experiments, results illustrate efficiency prototype proposed algorithm.