不用尾巴的扑翼机器人，靠腿振动实现空中地面自由切换
Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion
- 仿水黾幼虫结构，用弹性被动腿把扑动振动变前进动力
- 三对独立驱动翅膀+自适应控制器，实现飞行与地面移动无缝切换
- 无需额外电机，轻量化设计适合复杂环境巡检任务
扑翼机器人具有显著的多功能性，但实现高效多模态运动仍具挑战。本文提出一种无尾扑翼机器人设计，配备三对独立驱动的翅膀。受水黾幼虫腿部形态启发，机器人采用生物仿生弹性被动腿，将扑动引起的振动转化为定向地面运动，无需额外驱动装置即可实现运动。该振动驱动机制使系统更轻、结构更简。基于SE(3)的控制器实现了飞行与模式切换的协同控制，且所需驱动力最小。为验证可行性，搭建了功能原型并开展实验，测试其飞行、地面运动及模式转换能力。结果表明，在受限驱动条件下仍表现良好，展示了多模态扑翼设计在空地协同机器人中的应用潜力。研究还为未来频率调控陆地运动和被动偏航稳定等混合运动系统提供了基础。
原文摘要 · Abstract (English)
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three independently actuated pairs of wings. Inspired by the leg morphology of juvenile water striders, the robot incorporates bio-inspired elastic passive legs that convert flapping-induced vibrations into directional ground movement, enabling locomotion without additional actuators. This vibration-driven mechanism facilitates lightweight, mechanically simplified multi-modal mobility. An SE(3)-based controller coordinates flight and mode transitions with minimal actuation. To validate the robot's feasibility, a functional prototype was developed, and experiments were conducted to evaluate its flight, ground locomotion, and mode-switching capabilities. Results show satisfactory performance under constrained actuation, highlighting the potential of multi-modal flapping-wing designs for future aerial-ground robotic applications. These findings provide a foundation for future studies on frequency-based terrestrial control and passive yaw stabilization in hybrid locomotion systems.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。