飛行マルチボディロボットの重心空気力学モデリングと制御
Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
CFD解析で飛行ロボットの空気力をモデル化し、フィードバック線形化とゲインスケジューリングで空気力の影響を補償する制御手法を提案。ジェット推進ヒューマノイドiRonCubのシミュレーションで有効性を検証した。
著者: Tong Hui, Antonello Paolino, Gabriele Nava, Giuseppe L'Erario, Fabio Di Natale, Fabio Bergonti, Francesco Braghin, Daniele Pucci
分類: cs.RO
原文アブストラクト
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies: compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.
