衝突耐性を備えた柔軟な外骨格
A Flexible Exoskeleton for Collision Resilience
節足動物の外骨格に着想を得て、柔軟な関節で衝撃を吸収する半剛性構造を設計し、250g未満の自律クアッドコプターに適用して複数回の衝突を耐え、受動的エネルギー吸収が5倍向上することを示した。
著者: Ricardo de Azambuja, Hassan Fouad, Giovanni Beltrame
分類: cs.RO
原文アブストラクト
With inspiration from arthropods' exoskeletons, we designed a simple, easily manufactured, semi-rigid structure with flexible joints that can passively damp impact energy. This exoskeleton fuses the protective shell to the main robot structure, thereby minimizing its loss in payload capacity. Our design is simple to build and customize using cheap components and consumer-grade 3D printers. Our results show we can build a sub-250g, autonomous quadcopter with visual navigation that can survive multiple collisions, shows a five-fold increase in the passive energy absorption, that is also suitable for automated battery swapping, and with enough computing power to run deep neural network models. This structure makes for an ideal platform for high-risk activities (such as flying in a cluttered environment or reinforcement learning training) without damage to the hardware or the environment.
