垂直折り畳みアームを備えた能動変形クアッドロータの設計と制御
Design and Control of an Actively Morphing Quadrotor with Vertically Foldable Arms
アームを垂直に折り畳める新型クアッドロータを開発し、狭所通過と把持を可能にした。外乱オブザーバ付き適応スライディングモード制御で変形・把持時の外乱を抑制し、実機実験で有効性を示した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
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著者: Tingyu Yeh, Mengxin Xu, Lijun Han
分類: cs.RO
原文アブストラクト
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms connect the motor bases to the central frame, forming a parallelogram structure that ensures the propellers maintain a constant orientation during morphing. In its stretched state, the quadrotor resembles a conventional design, and when contracted, it functions as a gripper with grasping components emerging from the motor bases. To mitigate disturbances during transforming and grasping payloads, we employ an adaptive sliding mode controller with a disturbance observer. After fully folded, the quadrotor frame shrinks to 67% of its original size. The control performance and versatility of the morphing quadrotor are validated through real-world experiments.
