可由无人机投放的微型履带机器人，能进狭窄空间作业
MiniUGV$_2$: A Compact UAV-Deployable Tracked Ground Vehicle with Manipulation Capabilities
- 用可伸缩机械臂和激光雷达实现复杂环境感知
- 能自主爬坡、翻正，可操作3.5公斤物体
- 磁性缆绳设计解决部署缠绕问题，适合搜救场景
探索‘隐藏空间’——即入口仅允许飞行器进入但因几何限制、续航不足和通信中断而无法深入的区域——仍是重大挑战。本文提出miniUGV₂，一种可由无人机投送的紧凑型履带式地面机器人，将无人机能力延伸至狭小环境。系统配备双关节机械臂、集成式激光雷达与深度传感模块及模块化电子系统，提升自主性。创新的缆绳模块采用电永磁头，实现安全投送、回收及可选脱离，有效解决以往缠绕难题。实验验证其具备稳健地形通过性、自恢复能力，以及对最大3.5公斤物体的操作能力，证明miniUGV₂是混合空地机器人中具有广泛应用潜力的平台。
原文摘要 · Abstract (English)
Exploring and inspecting \emph{Hidden Spaces}, defined as environments whose entrances are accessible only to aerial robots but remain unexplored due to geometric constraints, limited flight time, and communication loss, remains a major challenge. We present miniUGV$_2$, a compact UAV-deployable tracked ground vehicle that extends UAV capabilities into confined environments. The system introduces dual articulated arms, integrated LiDAR and depth sensing, and modular electronics for enhanced autonomy. A novel tether module with an electro-permanent magnetic head enables safe deployment, retrieval, and optional detachment, thereby overcoming prior entanglement issues. Experiments demonstrate robust terrain navigation, self-righting, and manipulation of objects up to 3.5 kg, validating miniUGV$_2$ as a versatile platform for hybrid aerial-ground robotics.
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