MorphoGear：一种具有多肢体形态发生齿轮的粗糙地形移动无人机
MorphoGear: An UAV with Multi-Limb Morphogenetic Gear for Rough-Terrain Locomotion
AI总结：
本文提出MorphoGear无人机，结合飞行、多步态行走与抓取能力，通过三自由度肢体实现粗糙地形移动，实验验证低轨迹误差与210毫米步长，适用于勘测、投递等任务。
摘要：
能够奔跑、飞行和抓取的机器人在解决广泛任务和在复杂环境中导航方面具有巨大潜力。目前，几种具有自适应形态的此类机器人的机电设计正在涌现。然而，在不平坦表面着陆、穿越粗糙地形以及操纵物体等任务仍然面临高度挑战。本文介绍了一种新型旋翼无人机MorphoGear的设计，该无人机配备形态发生齿轮，并包含机器人机械、电子、控制架构的描述，以及行走行为和实验结果分析。MorphoGear能够飞行、以多种步态在地面上行走，并通过四个兼容的机器人肢体抓取物体。该无人机使用具有三个自由度（DoFs）的机器人肢体，在行走或飞行时作为足肢（pedipulators），在执行环境操作时作为机械臂。我们对机器人的起落架进行了运动学分析，并开发了三种类型的机器人步态。实验结果显示，最精确步态的横向轨迹误差较低（平均1.9厘米，最大5.5厘米），且无人机能够以210毫米的步长移动。另一种机器人步态也表现出较低的横向轨迹误差（平均2.3厘米，最大6.9厘米）。所提出的MorphoGear系统有望在环境勘测、物资投递和高空作业等领域实现广泛任务。
英文摘要：
Robots able to run, fly, and grasp have a high potential to solve a wide scope of tasks and navigate in complex environments. Several mechatronic designs of such robots with adaptive morphologies are emerging. However, the task of landing on an uneven surface, traversing rough terrain, and manipulating objects still presents high challenges. This paper introduces the design of a novel rotor UAV MorphoGear with morphogenetic gear and includes a description of the robot's mechanics, electronics, and control architecture, as well as walking behavior and an analysis of experimental results. MorphoGear is able to fly, walk on surfaces with several gaits, and grasp objects with four compatible robotic limbs. Robotic limbs with three degrees of freedom (DoFs) are used by this UAV as pedipulators when walking or flying and as manipulators when performing actions in the environment. We performed a locomotion analysis of the landing gear of the robot. Three types of robot gaits have been developed. The experimental results revealed low crosstrack error of the most accurate gait (mean of 1.9 cm and max of 5.5 cm) and the ability of the drone to move with a 210 mm step length. Another type of robot gait also showed low crosstrack error (mean of 2.3 cm and max of 6.9 cm). The proposed MorphoGear system can potentially achieve a high scope of tasks in environmental surveying, delivery, and high-altitude operations.
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。
