自励振動アクチュエーションによる適応的で堅牢な羽ばたき飛行
Self-excited actuation enables adaptive and resilient flapping-wing flight
昆虫の非同期筋を模した自励振動アクチュエーションを世界で初めて飛行可能な羽ばたきロボットに実装し、共振特性の変化や衝突にセンサなしで瞬時に対応できることを示した。
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: Rundong Yang, Ethan S. Wold, Ellen Liu, James Lynch, Wei Zhou, Mark Jankauski, Simon Sponberg, Nick Gravish
分類: cs.RO
原文アブストラクト
The muscles that power insect flight fall into one of two categories: 1) synchronous muscles that contract under direct control from the nervous system, and 2) asynchronous muscles which have an intrinsic stretch activation response that spontaneously generates wingbeats without the need for signaling from the brain. It is thought that the emergent nature of asynchronous wingbeats provides both adaptive and responsive capabilities for flight control. To date, most flying robots use synchronous actuation. In this paper we develop the first flight-capable flapping wing robot that uses asynchronous actuation. We demonstrate that asynchronous actuation allows wings to respond to changes in the resonant mechanics of the body without control input, and wings can react instantaneously to collisions with obstacles with no extrinsic sensing needed. Flight tests within cluttered environments demonstrate that asynchronous actuation significantly improves stability and performance when compared to synchronous actuation. In total this work demonstrates that a flapping wing robot actuation strategy that emulates the asynchronous muscles of flying insects can provide fast, reactive actuation responses before a control system would need to intervene. This partitioning of embodied control to both the low-level actuation dynamics and and high-level sensorimotor system provides a compelling blueprint for new flying robots.