一种能主动变形的滑翔机器人，靠风力飞行且能耗极低。
Embodied Intelligence for Sustainable Flight: A Soaring Robot with Active Morphological Control
- 通过模仿鸟类的形态控制实现被动滑翔，无需主动推进
- 在10 m/s强风中可悬停、机动并抗扰动，功耗仅10 W/kg
- 适合长期巡检、野外监测等需节能飞行的场景
在动态风环境中实现空中机器人的敏捷机动与高能效仍具挑战。传统推进系统虽灵活但耗能高，固定翼则高效却无法悬停。本文提出浮游者（Floaty），一种可通过智能形态控制主动调整外形、利用风能被动滑翔的机器人。其设计具备被动稳定性，控制策略基于实验学习的气动模型，可在无主动推进下实现精确姿态与位置控制。风洞实验表明，该机器人能在高达10 m/s的垂直气流中稳定悬停、机动并抵抗干扰，功耗仅为10 W/kg，比推进系统低一个数量级。这一工作开创了基于形态智能与控制的可持续飞行新范式。
原文摘要 · Abstract (English)
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption, while fixed-wing designs are efficient but lack hovering and maneuvering capabilities. We present Floaty, a shape-changing robot that overcomes these limitations by passively soaring, harnessing wind energy through intelligent morphological control inspired by birds. Floaty's design is optimized for passive stability, and its control policy is derived from an experimentally learned aerodynamic model, enabling precise attitude and position control without active propulsion. Wind tunnel experiments demonstrate Floaty's ability to hover, maneuver, and reject disturbances in vertical airflows up to 10 m/s. Crucially, Floaty achieves this with a specific power consumption of 10 W/kg, an order of magnitude lower than thruster-powered systems. This introduces a paradigm for energy-efficient aerial robotics, leveraging morphological intelligence and control to operate sustainably in challenging wind conditions.
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