四足机器人SPIDAR的设计、建模与控制：球矢量分布转子辅助的空地两栖四足机器人
Design, Modeling and Control of a Quadruped Robot SPIDAR: Spherically Vectorable and Distributed Rotors Assisted Air-Ground Amphibious Quadruped Robot
摘要：
多模态运动能力是机器人领域的一个新兴课题，各种新型的移动机器人已经被开发出来，使地面和空中的域的机动。在这些混合机器人中，几个国家的最先进的双足\robots，使复杂的步行运动，这是交织在一起的飞行。这些机器人还希望具有操纵能力;然而，由于中心\ized转子布置，当前形式难以在半空中保持关节运动的稳定性。因此，在这项工作中，我们开发了一种新的空地两栖四足机器人称为SPIDAR，它是由球形矢量转子分布在每个链接，使步行运动和变形飞行的协助。F \irst，我们提出了一种独特的机械设计的四足机器人，使地面和空中运动。然后，我们揭示了这种混合机器人平台的建模方法，并进一步开发了一个集成的控制策略，步行和fl \ying与关节运动。最后，我们证明了所提出的混合四足机器人的可行性，通过执行一个无缝的运动，涉及静态行走和随后的飞行。据我们所知，这项工作是第一次实现一个\quadruped机器人具有多模态运动能力，这也表明在多个领域的操纵潜力。
英文摘要：
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several state-of-the-art bipedal \robots enable the complex walking motion which is interlaced with flying. These robots are also desired to have the manipulation ability; however, it is difficult for the current forms to keep stability with the joint motion in midair due to the central\ized rotor arrangement. Therefore, in this work, we develop a novel air-ground amphibious quadruped robot called SPIDAR which is assisted by spherically vectorable rotors distributed in each link to enable both walking motion and transformable flight. F\irst, we present a unique mechanical design for quadruped robot that enables terrestrial and aerial locomotion. We then reveal the modeling method for this hybrid robot platform, and further develop an integrated control strategy for both walking and fl\ying with joint motion. Finally, we demonstrate the feasibility of the proposed hybrid quadruped robot by performing a seamless motion that involves static walking and subsequent flight. To the best of our knowledge, this work is the first to achieve a \quadruped robot with multimodal locomotion capability, which also shows the potential of manipulation in multiple domains.
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。
