In this article, XPLORER is introduced as a passive deformable quadrotor optimized for contact-rich tasks. The novel external force estimation technique and advanced planning algorithms enable precise manipulation, disturbance rejection, and dynamic adaptation. Mission strategies include tactile-traversal, tactile-turning, and collide-to-brake for exploration and navigation. The study highlights the potential of passive deformable quadrotors for versatile interaction tasks in real-world scenarios.
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arxiv.org
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by Karishma Pat... klo arxiv.org 03-15-2024
https://arxiv.org/pdf/2305.17217.pdfSyvällisempiä Kysymyksiä