论文标题
Aerobat，一种生物启动的无人机，用于测试高速驱动和体现的空中运动
Aerobat, A Bioinspired Drone to Test High-DOF Actuation and Embodied Aerial Locomotion
论文作者
论文摘要
这项工作为生物启发的拍打无人机提供了一个致动框架，称为Aerobat。该无人机能够产生动态通用的机翼构象，具有14个身体接头，并且没有尾灯。因此，在我们的机器人中，与主流拍打设计不同的是开环稳定且没有明显的变形特征的翼翼设计，驱动和闭环反馈设计可能会带来重大挑战。我们提出了一个基于整合机械智能和控制的框架。在此设计框架中，由几个小型低功率执行器引起的小调整称为引物，可以由于机器人的计算结构而产生重要的飞行控制角色。由于它们非常轻巧，因此系统可以大量托管底漆。在这项工作中，我们旨在展示Aerobat不受限制航班中联合运动调节的可行性。
This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike mainstream flapping wing designs that are open-loop stable and have no pronounced morphing characteristics, the actuation, and closed-loop feedback design can pose significant challenges. We propose a framework based on integrating mechanical intelligence and control. In this design framework, small adjustments led by several tiny low-power actuators called primers can yield significant flight control roles owing to the robot's computational structures. Since they are incredibly lightweight, the system can host the primers in large numbers. In this work, we aim to show the feasibility of joint's motion regulation in Aerobat's untethered flights.
