CapsuleBot：一种配备两个驱动轮-旋翼的新型空地两栖双旋翼机器人
CapsuleBot: A Novel Hybrid Aerial-Ground Bi-Copter Robot With Two Actuated-Wheel-Rotors
AI总结：
本研究提出空地两栖双旋翼机器人CapsuleBot，通过创新的驱动轮-旋翼结构用四个电机实现两栖推进，搭配对应动力学与控制系统，经实验验证具备低功耗低噪声特性，可完成攀爬陡坡等复杂任务。
摘要：
本文介绍了CapsuleBot的设计、建模与实验验证，这是一款面向长续航、低噪声作业的新型空地两栖双旋翼机器人。CapsuleBot融合了双旋翼飞行器在空中的机动性，以及两轮自平衡机器人在地面的低功耗、低噪声特性。为实现这一设计，我们提出了一种名为actuated-wheel-rotor（驱动轮-旋翼）的创新机械结构，该结构通过一个伺服电机和一个无刷电机，在空中可作为倾转旋翼使用，在地面可作为驱动轮使用。CapsuleBot搭载两个驱动轮-旋翼，仅需四个电机即可实现空地两栖推进，相比普通双旋翼无需额外增加电机。此外，我们基于双旋翼模型和两轮自平衡机器人模型，为飞行模式和轮式模式分别开发了完整的动力学与控制系统。我们搭建了CapsuleBot的原型机，并通过实验验证了其低功耗、低噪声的性能。多项高难度任务测试表明，CapsuleBot具备攀爬陡坡、飞越悬崖、穿越复杂地形的能力。
英文摘要：
This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter in the air with the low power consumption and low noise of a two-wheel self-balancing robot on the ground. To achieve this, we design an innovative mechanical structure named the actuated-wheel-rotor, which uses a servo motor and a brushless motor to function as both a tilting rotor in the air and an actuated wheel on the ground. CapsuleBot is equipped with two actuated-wheel-rotors, enabling it to achieve hybrid aerial-ground propulsion using only four motors, with no additional motors required compared to a bi-copter. Additionally, we develop comprehensive dynamics and control systems for both air and wheel mode, based on the bi-copter model and the two-wheel self-balancing robot model. A prototype of CapsuleBot is constructed, and its performance in terms of low power consumption and low noise is validated through experiments. Challenging tasks demonstrate CapsuleBot's capability to climb steep, fly over cliffs, and traverse rough terrains.
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。
