DASH机器人用弹簧腿+涵道风扇实现空中地面自由切换，省电又灵活。
DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control
- 用涵道风扇与弹簧腿一体化设计，兼顾飞行与跳跃
- 通过能量循环，地面跳躍效率显著提升
- 自动切换模式，可自主越障不需人工干预
我们提出一种新型简约型空地两用机器人DASH：涵道风扇式弹跳机器人。目标是在单一机械结构上实现高效飞行与地面运动，具备结构极简、运动多样、能耗低的特点。通过将同轴涵道风扇与底部轻质弹簧腿有机集成，涵道风扇提供矢量推力以实现敏捷飞行；结合弹簧腿后，机器人可在地面实现高效跳跃，并支持能量循环。为实现两种模式的最优运动，采用接触隐式模型预测控制器，自动选择运动模式与驱动策略。实验验证了DASH在周期性跳跃、空中飞行及障碍物穿越中自主模式切换等任务中的有效性。
原文摘要 · Abstract (English)
We present a novel and minimalistic design of an aerial-terrestrial robot DASH: Ducted Aerial Spring Hopper. The goal is to enable both aerial and ground locomotion capabilities on a unified mobile robot that is mechanically-minimalistic, locomotion-versatile, and energy-efficient. We propose an organic integration of ducted fan co-axial body with a springy leg at the bottom for realization. The ducted fan module provides thrust-vectoring as the main actuation for agile flying; when it is combined with the light-weight spring leg, the robot realizes highly efficient ground hopping with energy circulation. Moreover, to realize optimal locomotion with two modes, we employ a contact-implicit model predictive controller to automatically choose locomotion modes and actuation. We successfully validated the design and control of DASH through a range of tasks, including periodic hopping, aerial flight, and mode-free locomotion with autonomous mode transitions during obstacle traversal.
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