柔性机械臂设计让无人机撞不坏，还能快速自恢复。
HoLoArm: Deformable Arms for Collision-Tolerant Quadrotor Flight
- 仿蜻蜓翅节点结构设计可多向被动变形
- 碰撞后0.3-0.6秒内恢复，7.6m/s速度下仍能飞行
- 适合在人群密集区或复杂环境执行任务
无人机在人机共用场景中的应用日益广泛，亟需具备抗撞与快速恢复能力的设计。本文提出HoLoArm，一种受蜻蜓翅膀节点结构启发的柔性机械臂四旋翼无人机。该设计兼具自然柔韧性和结构韧性，同时保持飞行稳定性，进一步通过强化学习（RL）控制策略提升恢复与悬停性能。实验表明，HoLoArm可在任意方向（包括轴向）发生被动形变，并在0.3至0.6秒内完成恢复，碰撞速度最高达7.6米/秒，仍可承载540克负载稳定飞行。本工作为高敏捷性与高安全性软体空中机器人提供了形态设计新范式，推动了在杂乱及人机共享环境中运行的未来全软体无人机的发展。
原文摘要 · Abstract (English)
The increasing use of drones in human-centric applications highlights the need for designs that can survive collisions and recover rapidly, minimizing risks to both humans and the environment. We present HoLoArm, a quadrotor with compliant arms inspired by the nodus structure of dragonfly wings. This design provides natural flexibility and resilience while preserving flight stability, which is further reinforced by the integration of a Reinforcement Learning (RL) control policy that enhances both recovery and hovering performance. Experimental results demonstrate that HoLoArm can passively deform in any direction, including axial one, and recover within 0.3-0.6 s depending on the direction and level of the impact. The drone can survive collisions at speeds up to 7.6 m/s and carry a 540 g payload while maintaining stable flight. This work contributes to the morphological design of soft aerial robots with high agility and reliable safety, enabling operation in cluttered and human shared environments, and lays the groundwork for future fully soft drones that integrate compliant structures with intelligent control.
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