ATMO:用于动态地面-空中过渡的空中转换型形象生物
Ioannis Mandralis1,2, Reza Nemovi3, Alireza Ramezani4
1Department of Aerospace Engineering, California Institute of Technology, 1200 E California Blvd, Pasadena, CA, 91125, USA. imandralis@caltech.edu.
Communications engineering
|April 19, 2025
概括
空中转换型Morphobot (ATMO) 机器人通过在地面附近转换,在空中和地面模式之间顺利过渡. 这种新的方法利用地面效应空气动力学来克服在着陆期间的执行器限制.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 空气动力学 在空气动力学.
- 变形机器人 变形机器人
背景情况:
- 设计地面空中机器人在执行,重量和机动效率方面提出了挑战.
- 由于执行器和空气动力学复杂性,现有的形态机器人面临着在崎的地形上进行地面转换和空中转换的限制.
研究的目的:
- 引入能够无地从空中到地面模式转换的空中转换形象机 (ATMO).
- 通过在地面附近转变来克服以前的变形机器人设计的局限性.
主要方法:
- 利用近地空气动力学,通过实验性负载电池测试确定.
- 实施一个模型预测控制器来稳定,适应地面接近和机器人配置.
- 通过广泛的实验演示来验证系统.
主要成果:
- ATMO在空中和地面机动模式之间实现了平稳的过渡.
- 机器人成功地降落在超过执行器和限量的身体姿势中.
- 这项研究揭示了新的地面效应空气动力学,有利于机器人变形.
结论:
- ATMO通过利用近地空气动力学进行转换,展示了地面空气机器人设计的可行解决方案.
- 模型预测控制器在过渡期间有效地稳定机器人.
- 这项研究推动了对复杂环境的机器人能力的改造.
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