无人机靠弹性结构被动触碰墙壁，实现稳定近壁飞行。
Bumper Drone: Elastic Morphology Design for Aerial Physical Interaction
- 用弹性臂替代刚性臂，通过物理碰撞自适应调节飞行姿态。
- 弹性臂使俯仰振荡降低38%，下置结构可再降54%。
- 无需主动避障，适合复杂环境下的近壁导航与接触操作。
空中机器人正从避障转向利用环境接触进行导航、探索和操作。此类空中物理交互的关键挑战在于处理未知目标上的不确定接触力，传统方法依赖精确感知与主动控制。本文提出一种配备弹性翼的无人机平台，实现“触碰-离开”动作——一种自调控的连续碰撞运动，使无人机在不依赖主动避障的情况下保持靠近墙面。该设计将环境交互作为具身控制手段，低层级的稳定性和近障碍物导航由无人机-障碍物系统被动动态响应自然产生，其行为类似质量-弹簧-阻尼系统。实验表明，弹性翼可吸收冲击能量并维持飞行器稳定，相比刚性翼配置，俯仰振荡降低38%；下置翼结构进一步减少约54%的俯仰振荡。此外，该平台在配备弹性翼时，也能在静态物体上实现稳定持续接触，仅需标准姿态PID控制器即可完成。
原文摘要 · Abstract (English)
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact forces on unknown targets, which typically demand accurate sensing and active control. We present a drone platform with elastic horns that enables touch-and-go manoeuvres - a self-regulated, consecutive bumping motion that allows the drone to maintain proximity to a wall without relying on active obstacle avoidance. It leverages environmental interaction as a form of embodied control, where low-level stabilisation and near-obstacle navigation emerge from the passive dynamic responses of the drone-obstacle system that resembles a mass-spring-damper system. Experiments show that the elastic horn can absorb impact energy while maintaining vehicle stability, reducing pitch oscillations by 38% compared to the rigid horn configuration. The lower horn arrangement was found to reduce pitch oscillations by approximately 54%. In addition to intermittent contact, the platform equipped with elastic horns also demonstrates stable, sustained contact with static objects, relying on a standard attitude PID controller.
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