小无人机可在任意朝向表面动态停靠，突破传统固定姿态限制。
From Ceilings to Walls: Universal Dynamic Perching of Small Aerial Robots on Surfaces with Variable Orientations
- 通过无量纲化与强化学习，研究尺寸与表面角度对停靠的影响。
- 发现关键着陆速度阈值，决定停靠成败，且腿结构几何起决定作用。
- 验证缩放比例一致性可保持停靠性能，适合复杂环境自主飞行任务。
本研究展示了不同尺寸四旋翼无人机在不同朝向表面上的通用动态停靠能力。通过非维度化框架与深度强化学习，系统评估了机器人尺寸与表面朝向对着陆能力的影响。假设在不同尺度下保持几何比例一致可确保稳定的停靠行为，该假设在仿真与实验中均得到验证。同时研究了着陆机构中关节刚度与阻尼对停靠行为的影响：关节刚度影响较小，而阻尼比在垂直接近条件下显著影响着陆成功率。研究还确定了一个关键速度阈值，其由机器人的机动性与腿部几何结构决定。总体而言，该研究推进了机器人停靠技术，揭示了机械设计与缩放效应的作用，为未来无人机在非结构化环境中的自主性与运行效率奠定基础。
原文摘要 · Abstract (English)
This work demonstrates universal dynamic perching capabilities for quadrotors of various sizes and on surfaces with different orientations. By employing a non-dimensionalization framework and deep reinforcement learning, we systematically assessed how robot size and surface orientation affect landing capabilities. We hypothesized that maintaining geometric proportions across different robot scales ensures consistent perching behavior, which was validated in both simulation and experimental tests. Additionally, we investigated the effects of joint stiffness and damping in the landing gear on perching behaviors and performance. While joint stiffness had minimal impact, joint damping ratios influenced landing success under vertical approaching conditions. The study also identified a critical velocity threshold necessary for successful perching, determined by the robot's maneuverability and leg geometry. Overall, this research advances robotic perching capabilities, offering insights into the role of mechanical design and scaling effects, and lays the groundwork for future drone autonomy and operational efficiency in unstructured environments.
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