坠落在“你”身上：用于安全环境交互、感知与栖停的无系绳软体飞行机器人
Crash Landing onto "you": Untethered Soft Aerial Robots for Safe Environmental Interaction, Sensing, and Perching
AI总结：
针对森林监测中飞行机器人续航与干扰问题，提出无系绳软体机器人，通过身体变形实现多模态飞行与动态栖停，以降低重量并提升环境适应性与数据收集能力。
摘要：
要制造能够监测生物和非生物数据的空中森林穿越机器人，需要具备多种理想能力，包括多功能性、鲁棒性和适应性。这些机器人必须承受湍流风以及森林植被和野生动物等各种障碍，从而增加了在如此不确定环境中运行的复杂性。成功收集数据的关键在于灵活地间歇性从一棵树移动到另一棵树，以便在有利位置长时间栖停。这种栖停努力不仅减少了多旋翼系统在数据收集过程中造成的干扰，还使系统能够休息和充电，以执行更长的户外任务。当前系统采用附加栖停模块的方式，这增加了飞行机器人的重量并降低了无人机整体续航能力。因此，在我们的工作中，当前研究的关键问题是：“我们如何开发一种能够变形其身体以实现多模态飞行和动态栖停的单一机器人？”、“我们如何稳健且动态地检测并降落在可栖停物体上？”以及“哪些重要的时空数据是我们需要收集的？”
英文摘要：
There are various desired capabilities to create aerial forest-traversing robots capable of monitoring both biological and abiotic data. The features range from multi-functionality, robustness, and adaptability. These robots have to weather turbulent winds and various obstacles such as forest flora and wildlife thus amplifying the complexity of operating in such uncertain environments. The key for successful data collection is the flexibility to intermittently move from tree-to-tree, in order to perch at vantage locations for elongated time. This effort to perch not only reduces the disturbance caused by multi-rotor systems during data collection, but also allows the system to rest and recharge for longer outdoor missions. Current systems feature the addition of perching modules that increase the aerial robots' weight and reduce the drone's overall endurance. Thus in our work, the key questions currently studied are: "How do we develop a single robot capable of metamorphosing its body for multi-modal flight and dynamic perching?", "How do we detect and land on perchable objects robustly and dynamically?", and "What important spatial-temporal data is important for us to collect?"
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。
