论文标题
朝着撞击弹性的四摩托设计，碰撞表征和恢复控制，以维持碰撞后的飞行
Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions
论文作者
论文摘要
由于传感器的空间有限和飞行控制器的局部稳定性，空中机器人的碰撞检测和恢复仍然是一个挑战。我们介绍了一种新颖的碰撞碰撞四项，该四项符合符合性的手臂设计，以实现自由飞行，同时允许一种被动的自由度吸收冲击。我们进一步提出了一种基于霍尔传感器的新型碰撞检测和表征方法，以及在发生碰撞后生成和跟踪平滑轨迹的新恢复控制方法。实验结果表明，机器人可以从高速碰撞中检测和恢复各种障碍物，例如墙壁和极点。此外，它可以在基于IMU数据和联系模型的现有方法中检测到的碰撞，例如，在与非结构化表面碰撞时，或者在悬停时被移动的障碍物击中。
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm design to enable free flight while allowing for one passive degree of freedom to absorb shocks. We further propose a novel collision detection and characterization method based on Hall sensors, as well as a new recovery control method to generate and track a smooth trajectory after a collision occurs. Experimental results demonstrate that the robot can detect and recover from high-speed collisions with various obstacles such as walls and poles. Moreover, it can survive collisions that are hard to detect with existing methods based on IMU data and contact models, for example, when colliding with unstructured surfaces, or being hit by a moving obstacle while hovering.
