スラスタ一体型柔軟連続リンクを持つ形状適応型飛行マニピュレーションロボット
A Morphing Aerial Robot With Thruster-Integrated Flexible Continuum Links for Shape Adaptive Aerial Manipulation
柔軟な連続リンクにスラスタを分散配置した飛行ロボットを提案し、形状適応性と大きな相互作用力を両立させて空中マニピュレーションを実現した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Eri Sawada, Kazuki Sugihara, Ayano Miyamichi, Kunio Kojima, Kei Okada
分類: cs.RO
原文アブストラクト
In recent years, aerial manipulation has attracted increasing attention as a key to expand the application of aerial robots. In this work, we focus on two major research directions for achieving versatile aerial manipulation: (i) acquiring high environmental adaptability using soft manipulators, and (ii) expanding the feasible wrench space by distributing thrusters along the manipulator. However, no aerial robot has simultaneously satisfied these two requirements. Therefore, in this paper, we propose a morphing rotor-distributed aerial robot with flexible continuum links that achieves both high shape adaptability and an expanded wrench space. The flexible continuum links function as soft manipulators, passively conforming to the shape of the environment, while the thrusters distributed along the continuum links expand the feasible thrust wrench space and enable the end-effector to exert large interaction forces. To realize the proposed robot, it is essential to suppress vibrations of the lightweight continuum links. Thus, we develop a composite leaf-spring structure that provides both high torsional and vertical stiffness, and vibration-suppressing control methods. Using these implementations, we demonstrate stable flight and a variety of aerial manipulation tasks. To the best of our knowledge, this is the first work to realize aerial manipulations using flexible links with an integrated thruster.
関連論文
- 狭所環境での機動に向けた浮遊ベース多リンクロボットの階層的軌道計画飛行マニピュレーション
- 乱雑空間でのペイロード回収のための器用な懸垂エンドドロイドを備えたペイロードドローンの協調飛行システム飛行マニピュレーション
- 深層ニューラルネットワークを用いた双腕飛行マニピュレータの適応RISE制御飛行マニピュレーション