マルチロータUAVに統合された連続体マニピュレータにおけるダウンウォッシュ効果の実験的研究
An Experimental Study of Downwash Effects on a Continuum Manipulator Integrated with a Multirotor UAV
マルチロータUAVに搭載した腱駆動型連続体マニピュレータの、プロペラダウンウォッシュによる姿勢偏差を実験的に定量化し、ガウス過程回帰による残差モデルで予測精度を大幅に改善した。
著者: Anuraj Uthayasooriyan, Krishna Manaswi Digumarti, ernando Vanegas, Felipe Gonzalez
分類: cs.RO
原文アブストラクト
Continuum arm aerial manipulation systems leverage soft-manipulator compliance and dexterity for tasks in confined or hazardous environments, but propeller downwash can degrade performance, particularly near walls and the ground. This effect remains uncharacterized for continuum manipulators. This letter experimentally studies downwash-induced kinematic deviations of a tendon-driven continuum manipulator integrated with a multirotor platform. Under still-air conditions, the CM is compared with a constant-curvature (CC) model. Downwash- induced end-effector pose deviations are then quantified relative to the mean still-air experimental baseline at four propeller throttle levels in free space, and at maximum throttle near a wall, and near the ground. Vertical position and yaw show the largest deviations and are amplified by ground effect. A CC-guided Gaussian process regression (GPR) residual model is learned from experimental data that improves forward pose prediction RMSE (position by 89-95%, orientation by 47-79%), and support compensation-oriented, downwash-aware modeling of continuum arm aerial manipulation systems.