PufferBot：飛行ロボットのための駆動式展開構造
PufferBot: Actuated Expandable Structures for Aerial Robots
障害物や人に近づいた際にプロペラを保護するため展開する、ラック＆ピニオン式1自由度アクチュエータで駆動する3Dプリント製シザー構造を備えた飛行ロボットを提案し、4種類の構造設計と3つの応用シナリオを示した。
著者: Hooman Hedayati, Ryo Suzuki1, Daniel Leithinger, Daniel Szafir
分類: cs.RO, cs.HC
原文アブストラクト
We present PufferBot, an aerial robot with an expandable structure that may expand to protect a drone's propellers when the robot is close to obstacles or collocated humans. PufferBot is made of a custom 3D-printed expandable scissor structure, which utilizes a one degree of freedom actuator with rack and pinion mechanism. We propose four designs for the expandable structure, each with unique characterizations for different situations. Finally, we present three motivating scenarios in which PufferBot may extend the utility of existing static propeller guard structures. The supplementary video can be found at: https://youtu.be/XtPepCxWcBg
