Borinot：一个用于敏捷空中接触运动研究的开源推力-力矩控制机器人
Borinot: an open thrust-torque-controlled robot for research on agile aerial-contact motion
AI总结：
本文介绍了开源空中机器人平台Borinot，通过配备力矩驱动肢体实现全身动态控制，支持飞行与接触的混合敏捷运动，并采用全身力矩级模型预测控制验证了其执行敏捷任务的强大能力。
摘要：
本文介绍了Borinot，这是一个开源的空中机器人平台，旨在利用飞行和接触进行混合敏捷运动与操作的研究。该平台配备了一个敏捷且强大的六旋翼飞行器，可配备多种架构的力矩驱动肢体，从而实现全身动态控制。因此，Borinot能够执行诸如剧烈或杂技动作等敏捷任务，并充分发挥全身动力学的参与作用。连接到Borinot的肢体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运动，或作为手臂来操作物体。在自由飞行中，它们可以作为尾巴来参与动力学，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，使Borinot成为研究混合空中接触敏捷运动的理想开源平台。为了展示Borinot在混合运动模式敏捷性方面的关键能力，我们安装了一个平面2DoF肢体，并实现了全身力矩级模型预测控制。其结果是一个强大且适应性强的平台，我们相信它为敏捷机器人领域的研究开辟了新途径。相关链接：文档：www.iri.upc.edu/borinot；视频：https://youtu.be/Ob7IIVB6P_A。
英文摘要：
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be outfitted with torque-actuated limbs 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 limbs 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, making Borinot an ideal open-source platform for research on hybrid aerial-contact agile motion. To demonstrate the key capabilities of Borinot in terms of agility with hybrid motion modes, we have fitted a planar 2DoF limb and implemented a 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. Interesting links\footnote{Documentation: \url{www.iri.upc.edu/borinot}}\footnote{Video: \url{https://youtu.be/Ob7IIVB6P_A}}.
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。
