SPIDAR机器人通过可变推力控制实现飞行与爬行双模式运动。
Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR
- 为每条腿配备可转向螺旋桨，基于飞行控制框架扩展出多模态控制方法。
- 实验验证了复杂关节运动下的稳定飞行与重复性爬行能力。
- 适合研究仿生机器人多模态运动控制的学者与工程师参考。
本文介绍了一种新型四足机器人SPIDAR，其每条腿均配备可转向螺旋桨，实现了多种运动模式下的可变推力控制。首先简要介绍了机器人的独特机械结构、动力学模型及陆地/空中运动的基本控制框架。其次，提出一种基于基本飞行控制框架的可变推力控制方法，关键优势在于特定关节构型下可避免旋翼间气动干扰。第三，针对需同时抬起所有腿部的特殊陆地运动模式——爬行，提出了另一项扩展推力控制方法与基础步态策略。最后，实验展示了复杂关节运动下的飞行表现以及可重复的爬行运动，验证了所提推力控制方法在不同运动模式下的可行性。
原文摘要 · Abstract (English)
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic control framework for terrestrial/aerial locomotion are briefly introduced. Second, a vectorable thrust control method derived from the basic control framework for aerial locomotion is presented. A key feature of this extended flight control is its ability to avoid interrotor aerodynamics interference under specific joint configuration. Third, another extended thrust control method and a fundamental gait strategy is proposed for special terrestrial locomotion called crawling that requires all legs to be lifted at the same time. Finally, the experimental results of the flight with a complex joint motion and the repeatable crawling motion are explained, which demonstrate the feasibility of the proposed thrust control methods for different locomotion modes.
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