RGBlimp-Q control board for robot glider

RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm
This is the control unit circuit board for RGBlimp-Q. 


Project Page


Paper


Video


Abstract
 

Robotic blimps, as lighter-than-air aerial systems, offer prolonged duration and enhanced safety in human-robot interactions due to their buoyant lift. However, robust flight against environmental airflow disturbances remains a significant challenge, limiting the broader application of these robots.
Drawing inspiration from the flight mechanics of birds and their ability to perch against natural wind, this article introduces RGBlimp-Q, a robotic gliding blimp equipped with a birdinspired continuum arm. This arm allows for flexible attitude adjustments through moving mass control to enhance disturbance resilience, while also enabling object capture by using claws to counteract environmental disturbances, similar to a bird. environments. To the best of the authors' knowledge, this is the first interdisciplinary design integrating continuum mechanisms onto robotic blimps. Experimental results from both indoor and outdoor settings validate the improved flight robustness against environmental disturbances offered by this novel design.
We have open-sourced the RGBlimp-Q hardware and code on GitHub.