Agile Robotic Fliers: A Morphing-Based Approach

作     者：Riviere, Valentin Manecy, Augustin Viollet, Stephane 

作者机构：Aix Marseille Univ CNRS ISM Marseille France ONERA Midi Pyrenees Toulouse Ctr Toulouse France 

出 版 物：《SOFT ROBOTICS》 (Soft Robotics)

年 卷 期：2018年第5卷第5期

页      面：541-553页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：CNRS Aix-Marseille University Provence-Alpes-Cote d'Azur region French National Research Agency (ANR) Equipex/Robotex project 

主　　题：morphing robot quadrotors obstacle avoidance bioinspired aerial robot elastic folding mechanism 

摘      要：The aerial robot presented here for the first time was based on a quadrotor structure, which is capable of unique morphing performances based on an actuated elastic mechanism. Like birds, which are able to negotiate narrow apertures despite their relatively large wingspan, our Quad-Morphing robot was able to pass through a narrow gap at a high forward speed of 2.5 m.s(-1) by swiftly folding up the structure supporting its propellers. A control strategy was developed to deal with the loss of controllability on the roll axis resulting from the folding process, while keeping the robot stable until it has crossed the gap. In addition, a complete recovery procedure was also implemented to stabilize the robot after the unfolding process. A new metric was also used to quantify the gain in terms of the gap-crossing ability in comparison with that observed with classical quadrotors with rigid bodies. The performances of these morphing robots are presented, and experiments performed with a real flying robot passing through a small aperture by reducing its wingspan by 48% are described and discussed.