让扑翼无人机像猎鹰一样停在人手，实现安全交互。
Falconry-like palm landing by a flapping-wing drone based on the human gesture interaction and distance-aware flight planning
- 模仿猎鹰师引导猎鹰，用人体手势控制无人机掌上降落。
- 通过距离感知规划路径，确保飞行速度与安全距离，提升人机互动安全性。
- 首次实现扑翼无人机与人类的接触式交互，适合狭窄或人群环境使用。
扑翼无人机因其仿生飞行特性受到广泛关注，其低噪音和灵活机翼使其更适合人机交互。然而，关于人与扑翼无人机的实际交互研究仍较少。受猎鹰师引导猎鹰降落于手臂的启发，本研究构建了一种类猎鹰式交互系统，使扑翼无人机能够执行掌上降落动作。为确保接近人类时的安全性，设计了兼顾物理与心理因素的轨迹规划方法，考虑了飞行速度与与用户距离等要素。采用商用扑翼平台并实现运动规划，通过实验评估掌上降落性能与安全性。结果表明，该方法可实现安全、平稳的手部降落交互。据我们所知，这是首次实现扑翼无人机与人类之间的接触式交互。
原文摘要 · Abstract (English)
Flapping-wing drones have attracted significant attention due to their biomimetic flight. They are considered more human-friendly due to their characteristics such as low noise and flexible wings, making them suitable for human-drone interactions. However, few studies have explored the practical interaction between humans and flapping-wing drones. On establishing a physical interaction system with flapping-wing drones, we can acquire inspirations from falconers who guide birds of prey to land on their arms. This interaction interprets the human body as a dynamic landing platform, which can be utilized in various scenarios such as crowded or spatially constrained environments. Thus, in this study, we propose a falconry-like interaction system in which a flapping-wing drone performs a palm landing motion on a human hand. To achieve a safe approach toward humans, we design a trajectory planning method that considers both physical and psychological factors of the human safety such as the drone's velocity and distance from the user. We use a commercial flapping platform with our implemented motion planning and conduct experiments to evaluate the palm landing performance and safety. The results demonstrate that our approach enables safe and smooth hand landing interactions. To the best of our knowledge, it is the first time to achieve a contact-based interaction between flapping-wing drones and humans.
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