Alapfogalmak
XPLORER, a passive deformable quadrotor, showcases innovative contact-rich tasks enabled by collision-induced deformation.
Kivonat
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.
Statisztikák
XPLORER can exert forces and torque on surfaces for precise manipulation.
Collision energies are harnessed to initiate deformation using various materials such as springs.
A novel external force estimation algorithm improves accuracy in estimating external forces.
Contact-based navigation shifts focus from obstacle detection to tactile-based exploration schemes.
Collision-resilient quadrotors contribute to exploration, mapping, and swift navigation in unknown environments.