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.
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arxiv.org
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by Junxiao Lin,... at arxiv.org 03-05-2024
https://arxiv.org/pdf/2403.01991.pdfDeeper Inquiries