首款喷气式人形机器人实现起飞，挑战空中人形移动新边界。
iRonCub 3: The Jet-Powered Flying Humanoid Robot
- 采用全身人形结构搭配喷气推进，突破传统飞行器形态。
- 首次完成喷气人形机器人离地飞行，验证控制与估计框架有效性。
- 为复杂喷气实验设计专用安全区域，推动高空人形机器人研究。
本文介绍iRonCub 3——一款喷气驱动的人形机器人及其首次飞行实验。与传统飞行器不同，iRonCub 3旨在通过完整的人形躯体实现飞行，带来控制、状态估计与系统集成方面的独特挑战。文章详述了其当前的机械与软件架构，包括推进系统、控制框架及实验设施。控制与估计框架首先在仿真中完成起飞并跟踪参考轨迹，验证其可行性。随后，首次实现喷气人形机器人的离地起飞，迈出迈向空中人形机动的重要一步。此外，文章还详细说明了喷气人形机器人实验区域的设计要求，以应对远超室内人形机器人实验的复杂性。
原文摘要 · Abstract (English)
This article presents iRonCub 3, a jet-powered humanoid robot, and its first flight experiments. Unlike traditional aerial vehicles, iRonCub 3 aims to achieve flight using a full-body humanoid form, which poses unique challenges in control, estimation, and system integration. We highlight the robot's current mechanical and software architecture, including its propulsion system, control framework, and experimental infrastructure. The control and estimation framework is first validated in simulation by performing a takeoff and tracking a reference trajectory. Then, we demonstrate, for the first time, a liftoff of a jet-powered humanoid robot - an initial but significant step toward aerial humanoid mobility. Also, we detail how the experimental area around a jet-powered humanoid robot should be designed in order to deal with a level of complexity that is substantially superior than indoor humanoid robot experiments.
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。