从天花板到墙壁：小型空中机器人在可变朝向表面上的通用动态栖息
From Ceilings to Walls: Universal Dynamic Perching of Small Aerial Robots on Surfaces with Variable Orientations
AI总结：
本文通过无量纲化框架和深度强化学习，系统研究了不同尺寸四旋翼飞行器在可变朝向表面上的动态栖息能力，揭示了尺度比例、关节阻尼和临界速度阈值对成功栖息的影响，为无人机在非结构化环境中的自主运行奠定了基础。
摘要：
本工作展示了不同尺寸四旋翼飞行器在具有不同朝向的表面上的通用动态栖息能力。通过采用无量纲化框架和深度强化学习，我们系统地评估了机器人尺寸和表面朝向如何影响着陆能力。我们假设在不同机器人尺度上保持几何比例可确保一致的栖息行为，并在仿真和实验测试中验证了这一假设。此外，我们研究了起落架中关节刚度和阻尼对栖息行为和性能的影响。虽然关节刚度影响很小，但在垂直接近条件下，关节阻尼比会影响着陆成功率。研究还确定了成功栖息所需的临界速度阈值，该阈值由机器人的机动性和腿部几何结构决定。总体而言，这项研究推进了机器人栖息能力，为机械设计和尺度效应的作用提供了见解，并为未来无人机在非结构化环境中的自主性和运行效率奠定了基础。
英文摘要：
This work demonstrates universal dynamic perching capabilities for quadrotors of various sizes and on surfaces with different orientations. By employing a non-dimensionalization framework and deep reinforcement learning, we systematically assessed how robot size and surface orientation affect landing capabilities. We hypothesized that maintaining geometric proportions across different robot scales ensures consistent perching behavior, which was validated in both simulation and experimental tests. Additionally, we investigated the effects of joint stiffness and damping in the landing gear on perching behaviors and performance. While joint stiffness had minimal impact, joint damping ratios influenced landing success under vertical approaching conditions. The study also identified a critical velocity threshold necessary for successful perching, determined by the robot's maneuverability and leg geometry. Overall, this research advances robotic perching capabilities, offering insights into the role of mechanical design and scaling effects, and lays the groundwork for future drone autonomy and operational efficiency in unstructured environments.
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。
