无人机通过锚定环境实现稳定接触任务，抗风能力强。
A Tilt-Rotor UAV with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring
- 采用倾转旋翼与柔顺夹持器，实现非零俯仰悬停。
- 锚定后位置漂移均方根误差降低95%以上，最大抗力75N。
- 适用于钻孔采样、高空传感器安装等复杂交互任务。
在物理交互中保持稳定姿态是飞行机器人面临的重要挑战，常限制其在接触类任务中的应用。本文提出一种新型无人飞行器（UAV）平台，可通过环境锚定从自由飞行过渡到稳定的约束工作平台。系统包含：1）具备倾转旋翼机构的多旋翼，可解耦俯仰与前向运动，实现非零俯仰角下的稳定悬停；2）新型欠驱动、绳索驱动的直线型夹持器，具有柔性适应不规则几何形状，用于通过锚定环境稳定无人机。本文完成系统设计与原型制作，并通过一系列真实飞行测试验证性能。结果表明，锚定显著提升交互任务稳定性，位置漂移均方根误差相比自由飞行基线降低超过95%，即使在风环境中亦有效。锚定系统可承受高达75N的纵向反作用力并保持稳定姿态。在多种目标几何与朝向下，系统位置漂移均方根误差始终不超过3mm。这些结果证明该方法在复杂物理交互任务中的可行性，如通过钻孔采样树健康状况或在难以到达的位置安装传感器。
原文摘要 · Abstract (English)
Maintaining a stable pose during physical interaction is a significant challenge for aerial robots, often limiting their use in contact-based tasks. This paper presents a novel uncrewed aerial vehicle (UAV) platform designed to transition from unconstrained flight to a stable, constrained work platform via environmental anchoring. Our system comprises: 1) a multirotor with a tilt-rotor mechanism that decouples pitch from forward motion, enabling stable hover at non-zero pitch angles, and 2) a novel underactuated, cable-driven, prismatic gripper featuring compliance to adapt to irregular geometries, designed to stabilize the UAV by anchoring it to its environment. We present the design and prototyping of the complete system and validate its performance through a series of real-robot flight tests. Results demonstrate that anchoring significantly improves stability for interaction tasks, reducing positional drift RMSE by over 95% compared to a free-flight baseline, even under windy conditions. The anchored system can withstand longitudinal reaction forces up to 75N while maintaining a stable pose. Furthermore, across a range of target geometries and orientations, the system demonstrated consistent stability with a positional drift RMSE that never exceeded 3mm. These results establish the viability of our approach for complex physical interaction tasks, such as sampling tree health by drilling or sensor installation in hard-to-reach locations. Watch our UAV at: https://youtu.be/HDQ8S4ZW3Ls
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