论文标题
挤压的设计和控制：与环境相互作用的弹簧式四极管
Design and Control of SQUEEZE: A Spring-augmented QUadrotor for intEractions with the Environment to squeeZE-and-fly
论文作者
论文摘要
本文介绍了一种新型四极管的设计和控制，具有可变几何形状，可与混乱环境物理相互作用，并在狭窄的间隙和通道中飞行。这种具有被动变形功能的符合性四极管的设计是使用每个手臂铰链的扭转弹簧设计的，以允许由外力驱动的旋转。我们得出了此变量几何四键（Squeeze）的动态模型，并为轨迹跟踪开发自适应控制器。还提供了相应的Lyapunov稳定性态度跟踪证明。此外，由于与环境的物理相互作用，入场控制器旨在说明偏航的变化。最后，在使用两个设置的飞行测试中对拟议的设计进行了验证：一个小间隙和一条通道。实验结果表明，挤压在通过约束狭窄空间导航方面具有独特的能力。
This paper presents the design and control of a novel quadrotor with a variable geometry to physically interact with cluttered environments and fly through narrow gaps and passageways. This compliant quadrotor with passive morphing capabilities is designed using torsional springs at every arm hinge to allow for rotation driven by external forces. We derive the dynamic model of this variable geometry quadrotor (SQUEEZE), and develop an adaptive controller for trajectory tracking. The corresponding Lyapunov stability proof of attitude tracking is also presented. Further, an admittance controller is designed to account for changes in yaw due to physical interactions with the environment. Finally, the proposed design is validated in flight tests with two setups: a small gap and a passageway. The experimental results demonstrate the unique capability of the SQUEEZE in navigating through constrained narrow spaces.
