一种用于抗碰撞和接触反应式停歇的软体空中机器人
A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive Perching
AI总结：
提出一种轻量级可充气软体空中机器人SoBAR，通过气动调节刚度实现内在抗碰撞能力，并配备混合双稳态抓取器实现接触反应式抓取，显著提升了碰撞恢复、停歇成功率及操作性能。
摘要：
与生物对应物相比，当前的空中机器人在非结构化环境中表现出有限的交互能力。一些例子包括它们无法容忍碰撞，以及无法在未知形状、尺寸和纹理的物体上成功降落或停歇。为了引入柔顺性，一些努力引入了包含外部机械冲击保护的设计，但代价是由于增加的重量而降低了敏捷性和飞行时间。在这项工作中，我们提出并开发了一种轻量级、可充气的软体空中机器人（SoBAR），它可以通过气动方式改变其身体刚度，以实现内在的抗碰撞能力。与传统的刚性空中机器人不同，SoBAR成功展示了其反复承受并从各个方向的碰撞中恢复的能力，不仅限于平面内的碰撞。此外，我们利用其能力来展示停歇，其中3D抗碰撞能力有助于提高停歇成功率。我们还为SoBAR配备了一种新颖的基于织物的混合双稳态（HFB）抓取器，该抓取器可以利用冲击能量通过快速形状适应能力执行接触反应式抓取。我们详尽研究并提供了关于SoBAR与HFB抓取器的抗碰撞能力、冲击吸收和操作能力的见解。最后，我们通过碰撞表征、抓取识别，以及在各种场景和不同形状物体上的抗碰撞和停歇的实验验证，比较了传统空中机器人与SoBAR的性能。
英文摘要：
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch on objects of unknown shapes, sizes, and texture. Efforts to include compliance have introduced designs that incorporate external mechanical impact protection at the cost of reduced agility and flight time due to the added weight. In this work, we propose and develop a light-weight, inflatable, soft-bodied aerial robot (SoBAR) that can pneumatically vary its body stiffness to achieve intrinsic collision resilience. Unlike the conventional rigid aerial robots, SoBAR successfully demonstrates its ability to repeatedly endure and recover from collisions in various directions, not only limited to in-plane ones. Furthermore, we exploit its capabilities to demonstrate perching where the 3D collision resilience helps in improving the perching success rates. We also augment SoBAR with a novel hybrid fabric-based, bistable (HFB) grasper that can utilize impact energies to perform contact-reactive grasping through rapid shape conforming abilities. We exhaustively study and offer insights into the collision resilience, impact absorption, and manipulation capabilities of SoBAR with the HFB grasper. Finally, we compare the performance of conventional aerial robots with the SoBAR through collision characterizations, grasping identifications, and experimental validations of collision resilience and perching in various scenarios and on differently shaped objects.
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。
