FLOAT Drone：一种用于近距离作业的全驱动共轴空中机器人
FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations
AI总结：
针对近距离作业中全驱动无人机存在的气动干扰与尺寸过大问题，提出具有控制面与共轴双旋翼创新的FLOAT Drone，实现紧凑高效并验证其作业能力。
摘要：
如何赋予空中机器人在近距离环境中作业的能力仍然是一个悬而未决的问题。核心挑战在于推进系统的双重任务需求：在产生操纵力的同时抵消重力。这些相互竞争的需求在物理交互过程中会产生动态耦合效应。此外，旋翼引起的气流扰动严重削弱了作业的可靠性。尽管全驱动无人机（UAV）通过六自由度（6-DoF）力-力矩解耦缓解了动态耦合效应，但现有实现未能解决无人机与环境之间的气动干扰问题。它们还存在尺寸过大的设计缺陷，这损害了机动性并限制了其在各种作业场景中的应用。为解决这些局限性，我们提出了FLOAT Drone（FuLly-actuated cOaxial Aerial roboT），一种具有两项关键结构创新的新型全驱动无人机。通过首次将控制面集成到全驱动系统中，我们显著抑制了作业过程中的横向气流扰动。此外，共轴双旋翼配置在保持高悬停效率的同时实现了紧凑的尺寸。通过动力学建模，我们开发了支持全驱动和欠驱动模式的分层位置与姿态控制器。通过全面的实际实验验证，确认了该系统在近距离作业中的功能能力。
英文摘要：
How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting gravity. These competing demands create dynamic coupling effects during physical interactions. Furthermore, rotor-induced airflow disturbances critically undermine operational reliability. Although fully-actuated unmanned aerial vehicles (UAVs) alleviate dynamic coupling effects via six-degree-of-freedom (6-DoF) force-torque decoupling, existing implementations fail to address the aerodynamic interference between drones and environments. They also suffer from oversized designs, which compromise maneuverability and limit their applications in various operational scenarios. To address these limitations, we present FLOAT Drone (FuLly-actuated cOaxial Aerial roboT), a novel fully-actuated UAV featuring two key structural innovations. By integrating control surfaces into fully-actuated systems for the first time, we significantly suppress lateral airflow disturbances during operations. Furthermore, a coaxial dual-rotor configuration enables a compact size while maintaining high hovering efficiency. Through dynamic modeling, we have developed hierarchical position and attitude controllers that support both fully-actuated and underactuated modes. Experimental validation through comprehensive real-world experiments confirms the system's functional capabilities in close-proximity 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。
