Borinot：一种用于混合飞行与接触式移动操作（Loco-manipulation）的敏捷力矩控制机器人（workshop版本）
Borinot: an agile torque-controlled robot for hybrid flying and contact loco-manipulation (workshop version)
AI总结：
本文提出了开源飞行机器人平台Borinot，其配备力矩驱动末端实现全身动态控制，结合全身力矩级模型预测控制，支持混合飞行与接触式敏捷移动操作，为敏捷机器人研究开辟了新途径。
摘要：
本文介绍了Borinot，这是一个开源的飞行机器人平台，旨在执行混合敏捷移动与操作。该平台具有一个紧凑且强大的六旋翼结构，可配备多种架构的力矩驱动末端，从而实现全身动态控制。因此，Borinot能够执行敏捷任务，例如在全身动力学的参与下进行激进或杂技般的机动动作。连接到Borinot上的末端可以以多种方式使用；在接触时，它们可以作为腿来产生基于接触的移动，或者作为手臂来操作物体。在自由飞行中，它们可以作为尾巴参与动力学调节，模仿许多动物的运动。这使得这些动态模式能够进行任意混合，就像鸡和蝗虫的跳跃飞行一样，使Borinot成为研究混合空中-接触式敏捷运动的理想开源平台。为了展示Borinot的关键能力，我们安装了一个平面2DoF手臂，并实现了全身力矩级模型预测控制。其结果是一个功能强大且适应性广的平台，我们相信它为敏捷机器人领域的研究开辟了新的途径。
英文摘要：
This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful hexarotor that can be outfitted with torque-actuated extremities of diverse architecture, allowing for whole-body dynamic control. As a result, Borinot can perform agile tasks such as aggressive or acrobatic maneuvers with the participation of the whole-body dynamics. The extremities attached to Borinot can be utilized in various ways; during contact, they can be used as legs to create contact-based locomotion, or as arms to manipulate objects. In free flight, they can be used as tails to contribute to dynamics, mimicking the movements of many animals. This allows for any hybridization of these dynamic modes, like the jump-flight of chicken and locusts, making Borinot an ideal open-source platform for research on hybrid aerial-contact agile motion. To demonstrate the key capabilities of Borinot, we have fitted a planar 2DoF arm and implemented whole-body torque-level model-predictive-control. The result is a capable and adaptable platform that, we believe, opens up new avenues of research in the field of agile robotics.
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。
