用于非结构化环境中物理交互的悬挂式空中操作化身
A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments
AI总结：
本文设计由六旋翼和人形上半身构成的悬挂式空中操作化身，采用腱驱手臂、系绳增载及稳定控制，并经灾后室内任务实验验证。
摘要：
本文提出了一种能够在人类监督下，于非结构化环境中以类人灵巧性执行物理交互任务的空中平台。该空中平台由连接在六旋翼飞行器上的人形躯干组成。一个两自由度头部和两条配备柔性手的五自由度手臂提供了必要的灵巧性，使人类操作员能够执行各种任务。手臂专门设计了坚固的腱驱结构，显著降低了运动过程中手臂惯性对浮动基座的影响。此外，腱为关节提供了柔性，增强了手臂的鲁棒性，防止其在与环境交互时受损。为提高空中系统的有效载荷和电池续航，我们采用悬挂式空中操作（Suspended Aerial Manipulation）概念，即飞行人形机器人可通过系绳连接到某一结构，例如更大的机载运载器或支撑起重机。重要的是，为最大限度提高便携性和适用性，我们采用模块化方法，在空中基座硬件和自动驾驶仪方面利用商用组件，同时开发外部稳定控制回路以保持姿态，并补偿系绳力以及人形机器人头部和手臂的运动。人形机器人可由远程操作员控制，从而有效实现悬挂式空中操作化身（Suspended Aerial Manipulation Avatar）。所提出的系统通过在复现灾后任务的室内场景中开展实验得到了验证。
英文摘要：
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a hexacopter. A two-degree-of-freedom head and two five-degree-of-freedom arms equipped with softhands provide the requisite dexterity to allow human operators to carry out various tasks. A robust tendon-driven structure is purposefully designed for the arms, considerably reducing the impact of arm inertia on the floating base in motion. In addition, tendons provide flexibility to the joints, which enhances the robustness of the arm preventing damage in interaction with the environment. To increase the payload of the aerial system and the battery life, we use the concept of Suspended Aerial Manipulation, i.e., the flying humanoid can be connected with a tether to a structure, e.g., a larger airborne carrier or a supporting crane. Importantly, to maximize portability and applicability, we adopt a modular approach exploiting commercial components for the aerial base hardware and autopilot, while developing an outer stabilizing control loop to maintain the attitude, compensating for the tether force and for the humanoid head and arm motions. The humanoid can be controlled by a remote operator, thus effectively realizing a Suspended Aerial Manipulation Avatar. The proposed system is validated through experiments in indoor scenarios reproducing post-disaster tasks.
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。
