仿生腱驱动机械爪让飞行机器人轻松停在树枝上，省电又稳定。
Tendon-driven Grasper Design for Aerial Robot Perching on Tree Branches
- 用仿蝙蝠爪的腱驱动机构，仅在动作时耗能，靠被动柔顺抓握树枝。
- 实测可在直径30至80毫米的树枝上成功停驻，适应性强。
- 适合在复杂森林环境进行高效、低能耗的野外数据采集。
保护和恢复森林生态系统已成为重要的保护议题。尽管已有多种机器人用于野外数据采集以保护森林，但复杂的地形和密集的树冠使数据采集效率较低。为解决此问题，提出一种具有生物启发行为的空中平台，通过仿生机制实现节能的数据采集。该平台可利用仿鹰眼算法定位树干，并识别适于停驻的水平枝条。采用仿蝙蝠爪的腱驱动机构，在仅需动作时耗能的情况下，依靠被动柔顺性将平台稳固固定于枝条。实验结果表明，该机构可在直径30至80毫米的树枝上完成停驻。真实环境测试验证了系统对目标点的选择与适应能力，预计将在复杂森林生态系统中发挥重要作用。
原文摘要 · Abstract (English)
Protecting and restoring forest ecosystems has become an important conservation issue. Although various robots have been used for field data collection to protect forest ecosystems, the complex terrain and dense canopy make the data collection less efficient. To address this challenge, an aerial platform with bio-inspired behaviour facilitated by a bio-inspired mechanism is proposed. The platform spends minimum energy during data collection by perching on tree branches. A raptor inspired vision algorithm is used to locate a tree trunk, and then a horizontal branch on which the platform can perch is identified. A tendon-driven mechanism inspired by bat claws which requires energy only for actuation, secures the platform onto the branch using the mechanism's passive compliance. Experimental results show that the mechanism can perform perching on branches ranging from 30 mm to 80 mm in diameter. The real-world tests validated the system's ability to select and adapt to target points, and it is expected to be useful in complex forest ecosystems.
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