ATMO通过空中变形实现地面-空中模式平滑切换，突破了传统机器人在复杂地形下的运动限制。
ATMO: An Aerially Transforming Morphobot for Dynamic Ground-Aerial Transition
- 利用近地气动效应实现空中变形，减少地面交互复杂性
- 在执行器超限情况下仍能平稳着陆，依赖地面效应减缓冲击
- 采用模型预测控制自适应调节，适合崎岖地形动态任务
设计可地面-空中转换的机器人面临执行器需求高、重量增加和运动效率下降的挑战。形态机器人通过多功能执行器组合与地面变形实现多模态运动，但地面变形需应对复杂的车地交互，限制其在崎岖地形的应用。空中变形可缓解此问题，但需在执行器极限附近运行，并处理复杂的气动力。我们提出空中变形形态机器人（ATMO），可在近地条件下完成空中与地面模式的平滑过渡。通过实验负载传感器测试揭示近地气动特性，并采用模型预测控制器实时适应地面距离与机体形状进行稳定控制。实验验证表明，即使在执行器饱和状态下，ATMO仍可通过地面效应实现平稳着陆。
原文摘要 · Abstract (English)
Designing ground-aerial robots is challenging due to the increased actuation requirements which can lead to added weight and reduced locomotion efficiency. Morphobots mitigate this by combining actuators into multi-functional groups and leveraging ground transformation to achieve different locomotion modes. However, transforming on the ground requires dealing with the complexity of ground-vehicle interactions during morphing, limiting applicability on rough terrain. Mid-air transformation offers a solution to this issue but demands operating near or beyond actuator limits while managing complex aerodynamic forces. We address this problem by introducing the Aerially Transforming Morphobot (ATMO), a robot which transforms near the ground achieving smooth transition between aerial and ground modes. To achieve this, we leverage the near ground aerodynamics, uncovered by experimental load cell testing, and stabilize the system using a model-predictive controller that adapts to ground proximity and body shape. The system is validated through numerous experimental demonstrations. We find that ATMO can land smoothly at body postures past its actuator saturation limits by virtue of the uncovered ground-effect.
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