Tilt-Ropter用倾转旋翼+被动轮实现空地无缝切换，省电92.8%。
Tilt-Ropter: A Fully Actuated Hybrid Aerial-Terrestrial Vehicle with Tilt Rotors and Passive Wheels
- 倾转旋翼配被动轮，全驱动设计实现空地独立控制。
- 地面行驶比飞行省电92.8%，轨迹跟踪误差小。
- 适合长时巡检、复杂地形任务的机器人开发者。
本文提出Tilt-Ropter，一种全驱动空地混合移动机器人，集成倾转旋翼与被动轮，实现高效多模态运动。相比传统欠驱动型平台，其全驱动设计支持力与力矩解耦控制，提升机动性与地面效率。开发统一非线性模型预测控制器（NMPC），可追踪参考轨迹、施加非完整约束并处理接触效应，通过专用控制分配保障执行器可行性。为应对复杂轮地动力学，引入外部力偶估计器，实时获取交互力偶信息。系统在仿真与真实实验中验证，完成无感空地转换与轨迹跟踪任务。实验表明，地面模式下轨迹跟踪误差低，能耗较飞行模式降低92.8%，凸显其在长时间任务中节能优势。
原文摘要 · Abstract (English)
In this work, we present Tilt-Ropter, a fully actuated hybrid aerial-terrestrial vehicle (HATV) that integrates tilt rotors with passive wheels to enable efficient multi-modal locomotion. Unlike conventional underactuated HATVs, the fully actuated design of Tilt-Ropter allows decoupled force and torque control, improving maneuverability and ground locomotion efficiency. A unified nonlinear model predictive controller (NMPC) is developed to track reference trajectories, enforce non-holonomic constraints, and accommodate contact effects across locomotion modes, while ensuring actuator feasibility through dedicated control allocation. To address complex wheel-ground dynamics, an external wrench estimator is incorporated to provide real-time interaction wrench estimates. The system is validated through simulation and real-world experiments, including seamless air-ground transitions and trajectory tracking tasks. Experimental results demonstrate low tracking errors in both modes and reveal a 92.8% reduction in power consumption during ground locomotion compared with flight, highlighting the platform's potential for long-duration missions where energy efficiency is critical.
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