论文标题
Smors：一种用于多模式运动和稳健互动的软多趋势无人机
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction
论文作者
论文摘要
我们提出了史密斯（Smors），这是第一个用于多模式运动的全面驱动的多轨道系统。与传统的己型不同，Smors配备了三个刚性和三个连续柔软的手臂，每个手臂都有螺旋桨。我们通过机械地将完全驱动的飞行平台的驱动与软机器人操纵器的致动，在软机器人和空中机器人的田地之间建立了桥梁。每个转子都稍微倾斜，从而使平台充分致动。软件组合结合了平台的完整致动，可以以有效的多模式运动的形式进行稳健的相互作用。在这项工作中，我们介绍了平台的动态模型，得出了闭环控制，并提供了仿真结果，从而在跳跃飞行的操作下加强了平台的稳健性。我们在模拟中证明，我们的多模式运动方法可以比使用己谐的飞行更节能。
We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create a bridge between the fields of soft and aerial robotics by mechanically coupling the actuation of a fully actuated flying platform with the actuation of a soft robotic manipulator. Each rotor is slightly tilted, allowing for full actuation of the platform. The soft components combined with the platform's full actuation allow for a robust interaction, in the form of efficient multimodal locomotion. In this work, we present the dynamical model of the platform, derive a closed-loop control, and present simulation results fortifying the robustness of the platform under a jumping-flying maneuver. We demonstrate in simulations that our multimodal locomotion approach can be more energy-efficient than the flight with a hexarotor.
