柔軟マルチロータUAVによるマルチモーダル移動と堅牢な相互作用
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction
3本の剛体アームと3本の柔軟アームを備えた世界初のソフト全駆動ヘキサロータSMORSを提案し、跳躍と飛行を組み合わせたマルチモーダル移動の制御とエネルギー効率をシミュレーションで示した。
著者: Markus Ryll, Robert K. Katzschmann
分類: cs.RO
原文アブストラクト
We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create a bridge between the fields of soft and aerial robotics by mechanically coupling the actuation of a fully actuated flying platform with the actuation of a soft robotic manipulator. Each rotor is slightly tilted, allowing for full actuation of the platform. The soft components combined with the platform's full actuation allow for a robust interaction, in the form of efficient multimodal locomotion. In this work, we present the dynamical model of the platform, derive a closed-loop control, and present simulation results fortifying the robustness of the platform under a jumping-flying maneuver. We demonstrate in simulations that our multimodal locomotion approach can be more energy-efficient than the flight with a hexarotor.
