通过被动导流回收变形时损失的升力，提升飞行机器人变构稳定性。
Wake Vectoring for Efficient Morphing Flight
- 内部导流板被动引导旋翼尾流向下，回收废动能。
- 在无可用升力的形态下，升力恢复率达40%。
- 无需电子系统，适合追求轻量与高机动的飞行机器人。
可变形飞行机器人有望革新自主飞行，实现复杂环境穿梭、悬停停靠及空中-地面模式无缝切换。然而飞行中重构会带来关键气动挑战：倾斜推进器导致垂直升力下降，影响稳定性和控制能力。本文提出一种被动尾流偏转机制，可恢复变形过程中的升力损失。集成于新型机器人ATMO（Aerially Transforming Morphobot），内部导流板拦截并向下引导旋翼尾流，被动转向本将浪费的气流动量。该无电子方案在原本无有效升力的构型下，实现最高达40%的垂直升力恢复，显著延长变构过程中的悬停与机动能力。研究揭示了一条新路径：借鉴火箭与飞机推力矢量设计，利用被动气动结构，在不增加机械复杂度的前提下实现高效敏捷飞行。
原文摘要 · Abstract (English)
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration presents a critical aerodynamic challenge: tilting propulsors to achieve shape change reduces vertical thrust, undermining stability and control authority. Here, we introduce a passive wake vectoring mechanism that recovers lost thrust during morphing. Integrated into a novel robotic system, Aerially Transforming Morphobot (ATMO), internal deflectors intercept and redirect rotor wake downward, passively steering airflow momentum that would otherwise be wasted. This electronics-free solution achieves up to a 40% recovery of vertical thrust in configurations where no useful thrust would otherwise be produced, substantially extending hover and maneuvering capabilities during transformation. Our findings highlight a new direction for morphing aerial robot design, where passive aerodynamic structures, inspired by thrust vectoring in rockets and aircraft, enable efficient, agile flight without added mechanical complexity.
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