Wukong-Omni：全地形対応推進ユニットによる陸・空・水中探査用マルチモードロボットの設計・モデリング・制御
Wukong-Omni: Design, Modeling and Control of a Multi-mode Robot for Air, Land, and Underwater Exploration with All-in-One Propulsion Unit
洪水災害時の部分的に水没した建物内を探査するため、陸・空・水中を一つの推進システムで移動できるマルチモードロボットを開発し、効率と推力を最適化した。
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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5. 議論はある？
6. 次に読むべき論文は？
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著者: Yufan Liu, Rixi Yu, Junjie Li, Yishuai Zeng, Zhenting Wen, Cheng Li, Haifei Zhu, Shikang Lian, Wei Meng, Fumin Zhang
分類: cs.RO
原文アブストラクト
In flood disaster rescue scenarios, partially submerged buildings prevent aerial robots from accessing lower levels, limiting mission effectiveness. To address this challenge, this paper presents Wukong-Omni, a novel multimode robot capable of operating across land, air, and underwater using a unified propulsion system. The system is enabled by an innovative mechanical design that allows motor reuse and improves thrust generation. Efficiency and peak thrust are enhanced through simulation and tank-based optimization. Experimental results show a 100 percent improvement in propulsion efficiency and a 150 percent increase in maximum thrust compared with direct installation methods. Dynamic models for the three operating domains are developed, and a unified cross-domain control framework is proposed. Comprehensive experiments validate stable locomotion and smooth transition across domains. Outdoor experiments further demonstrate robustness and adaptability in real-world environments.
