一台可变形四足机器人，能用腿实现跑跳和飞行。
Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
- 通过结构重构，让四条腿既能走路又能飞。
- 实测验证了动态奔跑与悬停飞行两种模式。
- 适合研究多模态机器人与仿生运动的学者。
多模态地面-空中机器人受到广泛关注，其核心挑战在于不同运动模式间存在相互冲突的需求。东北大学研发的Husky v.2机器人通过姿态调节与推力矢量控制，实现了基于结构重构的多模态运动。该四足机器人具备可重构的腿部结构，能够用于动态步行与飞行。本文介绍了机器人的硬件设计，并报告了在动态四足行走与悬停飞行方面的初步实验结果。
原文摘要 · Abstract (English)
Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operation. The Husky robot family, developed at Northeastern University, and specifically the Husky v.2 discussed in this study, addresses this challenge by incorporating posture manipulation and thrust vectoring into multi-modal locomotion through structure repurposing. This quadrupedal robot features leg structures that can be repurposed for dynamic legged locomotion and flight. In this paper, we present the hardware design of the robot and report primary results on dynamic quadrupedal legged locomotion and hovering.
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