1自由度ベクタブルプロペラを備えた二次元多連結飛行ロボットによる特異点のない空中変形
Singularity-free Aerial Deformation by Two-dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller
推力方向を変えられるプロペラを追加し、変形時に避けたい特異形状を制御性最大化で乗り越える計画法を提案、線形状態での軌道追従と変形通過を実験で実証した。
著者: Moju Zhao, Tomoki Anzai, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1 Degrees-of-Freedom (DoF) vectorable propeller is employed in this work to overcome singular forms by properly changing the thrust direction. In this paper, we first extend modeling and control methods from our previous works for an under-actuated model whose thrust forces are not unidirectional. We then propose a planning method for the vectoring angles to solve the singularity by maximizing the controllability under arbitrary robot forms. Finally, we demonstrate the feasibility of the proposed methods by experiments where a quad-type model is used to perform trajectory tracking under challenging forms, such as a line-shape form, and the deformation passing these challenging forms.
