Kernkonzepte
The author presents the innovative bi-modal bi-copter robot Skater, emphasizing its adaptability to air and various ground surfaces. The core reasoning is to showcase a unified actuation system for both aerial and ground modes, enhancing terrain traversing capability and steering capacity.
Zusammenfassung
The content introduces the Skater robot, a bi-modal bi-copter designed for adaptive locomotion in air and diverse terrains. It highlights the unique features of Skater, such as its vectored thrust characteristic, comprehensive dynamics modeling, differential flatness analysis, and trajectory tracking using nonlinear model predictive control. Real-world experiments validate the exceptional performance of Skater in comparison to other configurations of aerial-ground robots.
The design challenges faced by aerial-ground robots are discussed, focusing on weight limitations affecting flight endurance and maneuverability. Various configurations of flying and driving mechanisms are explored, leading to the selection of longitudinally arranged bi-copters with passive wheels for enhanced traversability. The content delves into detailed analyses of traversability, steering capability comparisons between quadrotors and bi-copters, energy efficiency considerations, hardware implementation details, dynamics modeling, differential flatness characteristics, centripetal force generation methods, and a unified control framework using NMPC.
Experimental results demonstrate the energy-saving efficiency of Skater in ground mode compared to aerial mode. Trajectory tracking tests in both aerial and ground modes exhibit accurate performance even on slippery surfaces. The robot's ability to navigate through narrow gaps is showcased along with benchmark comparisons against quadrotor-based robots on slippery terrains. The study concludes by highlighting future directions for motion planning approaches and autonomous navigation tasks.
Statistiken
"The average power of the robot in aerial mode Pa is 226 W."
"The average power in ground mode Pg is 32 W."
"The energy saving efficiency of the robot in ground mode is ξ = 85.8%."
Zitate
"The outstanding performance of the system is verified by extensive real-world experiments."
"A novel aerial-ground robot with outstanding terrain adaptability."
"A balance between high energy efficiency and agility."