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生物灵感的自适应腿爪使无人机能够稳固地和抓住无人机
Tianyu Cheng1, Shaokun Wang1, Jiehan Zou1
1College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China.
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|March 13, 2026
概括
这项研究引入了一种新的生物灵感的无人飞行器 (UAV) 腿爪机制,使其能够在复杂的环境中稳固地立和抓住. 适应性设计模仿猛禽后肢,用于多功能空中操纵和长时间操作.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物启发的工程是生物启发的.
- 机械设计 机械设计
背景情况:
- 传统的无人驾驶飞行器 (UAV) 在立和抓取方面面临限制,这限制了它们在复杂,非结构化环境中的操作能力.
- 猛禽由于特殊的后肢形态表现出先进的空中操纵和稳定的休息,为生物灵感设计提供了一个模型.
研究的目的:
- 为无人机开发一种生物启发的适应性腿爪机制,以增强立和抓取能力.
- 为了使无人机能够在多样化和具有挑战性的环境中实现稳定的附着和操纵.
主要方法:
- 整合了四环骨,紧张驱动的可变形脚和对称的脚,以稳定地固定表面.
- 开发一个主动掌握策略和控制框架,用于自主模式切换 (立/悬) 和自适应脚调整.
- 生物模拟猫头四肢结构和蝙蝠休息行为.
主要成果:
- 这种生物启发的机制使无人机能够进行强大而多功能的立和抓取.
- 在不同几何形状和直径的表面上表现出稳定的附着.
- 启用了自主切换站立和悬挂立模式以及适应性抓住不规则物体.
结论:
- 拟议的腿爪机制显著提高了无人机在非结构化环境中立和抓取的功能.
- 这种生物启发的方法在推进自主飞行机器人和长时间的野外作战方面具有巨大的潜力.
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