表演即是观看：使用拍打的翅膀在狭窄的空间中航行
Acting Is Seeing: Navigating Tight Space Using Flapping Wings
摘要：
飞行动物的翅膀不仅可以产生升力和控制力矩，还可以感知周围环境。这种耦合在一个元件中的感测和致动的双重功能对于小型仿生机器人飞行器特别有用，其重量、尺寸和功率受到严格的约束。在这项工作中，我们提出了第一个扑翼机器人使用它的扑翼环境感知和导航在狭小的空间，而不需要任何视觉反馈。作为实验平台，我们介绍了Purdue Hummingbird，一个扑翼机器人，翼展17 cm，重量12 g，具有一对30- 40 Hz的扑翼，仅由两个驱动器驱动。通过解释机翼载荷反馈及其变化，飞行器可以检测到环境变化的存在，例如地面、墙壁、楼梯、障碍物和阵风。瞬时机翼载荷可以通过测量和解释驱动机翼的电机的电流反馈来获得。实验证明了所提出的方法的有效性在几个具有挑战性的飞行任务没有视觉：地形跟随，墙壁跟随和通过一个狭窄的走廊。为了保证飞行稳定性，设计了鲁棒控制器来处理飞行过程中不可预见的扰动。通过驱动器加载来感知和导航环境是移动机器人的一种很有前途的方法，它可以作为视觉感知的替代或补充方法。
英文摘要：
Wings of flying animals can not only generate lift and control torques but also can sense their surroundings. Such dual functions of sensing and actuation coupled in one element are particularly useful for small sized bio-inspired robotic flyers, whose weight, size, and power are under stringent constraint. In this work, we present the first flapping-wing robot using its flapping wings for environmental perception and navigation in tight space, without the need for any visual feedback. As the test platform, we introduce the Purdue Hummingbird, a flapping-wing robot with 17cm wingspan and 12 grams weight, with a pair of 30-40Hz flapping wings driven by only two actuators. By interpreting the wing loading feedback and its variations, the vehicle can detect the presence of environmental changes such as grounds, walls, stairs, obstacles and wind gust. The instantaneous wing loading can be obtained through the measurements and interpretation of the current feedback by the motors that actuate the wings. The effectiveness of the proposed approach is experimentally demonstrated on several challenging flight tasks without vision: terrain following, wall following and going through a narrow corridor. To ensure flight stability, a robust controller was designed for handling unforeseen disturbances during the flight. Sensing and navigating one's environment through actuator loading is a promising method for mobile robots, and it can serve as an alternative or complementary method to visual perception.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
