用几何优化揭示飞行器能耗与响应速度的权衡，提出动态'飞行动肌'新范式。
Muscle Coactivation in the Sky: Geometry and Pareto Optimality of Energy vs. Aerodynamic Promptness and Multirotors as Variable Stiffness Actuators
- 通过任务纤维的多目标几何优化，建模飞行能耗与响应速度的权衡机制。
- 拮抗驱动使响应速度逼近硬件极限，但飞行续航显著下降。
- 将飞行器控制提升为可导航的帕累托前沿，适合高敏捷飞行平台设计。
在机器人学与生物力学中，以代谢成本换取运动准备度是公认原则。本文首次将该概念形式化应用于空中多旋翼系统，引入气动响应性（aerodynamic promptness）这一动态指标，类比机器人学中的动态可操作性。通过将冗余分配问题建模为沿任务纤维的几何多目标优化，严格刻画了能耗与响应性之间的拓扑权衡。研究发现，该权衡由纤维几何结构决定：协同驱动产生紧凑纤维与有界、兼容的帕累托前沿；而拮抗驱动则释放无界纤维，实现气动共收缩，使响应性达到硬件极限，代价是飞行续航大幅降低。本文建立气动共收缩与生物启发变刚度执行器之间的结构同构关系，提出动态‘飞行动肌’新范式。最终，该框架将多旋翼分配从经验能效最小化，升级为基于几何感知的帕累托导航，为高度敏捷空中平台的设计与控制奠定理论基础。
原文摘要 · Abstract (English)
In robotics and biomechanics, trading metabolic cost for kinematic readiness is a well-established principle. This paper formalizes this concept for aerial multirotors through the introduction of aerodynamic promptness -- a dynamic metric analogous to dynamic manipulability in robotics. By formulating redundancy resolution as a geometric multi-objective optimization along task fibers, we rigorously characterize the topological trade-off between energy consumption and promptness. We demonstrate that this interplay is fundamentally governed by fiber geometry. Cooperative actuation regime yields compact fibers with bounded, compatible Pareto fronts. Conversely, antagonistic actuation regime unlocks unbounded fibers, enabling aerodynamic co-contraction that drives promptness to hardware limits at the expense of flight endurance. We establish a structural isomorphism between aerodynamic co-contraction and biologically inspired variable stiffness actuators, introducing a dynamic ``flying muscle'' paradigm. Ultimately, this framework transitions multirotor allocation from heuristic energy minimization to principled, geometry-aware Pareto navigation, laying foundational theory for the design and control of highly agile aerial platforms.
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