基于人类手势交互与距离感知飞行规划的扑翼无人机仿猎鹰式手掌降落
Falconry-like palm landing by a flapping-wing drone based on the human gesture interaction and distance-aware flight planning
AI总结：
本研究提出一种仿猎鹰式交互系统，使扑翼无人机能基于距离感知与运动规划安全降落在人类手掌上，首次实现了扑翼无人机与人类的接触式交互。
摘要：
扑翼无人机因其仿生飞行而备受关注。由于其低噪声和柔性机翼等特点，它们被认为更具人类友好性，适合人机交互。然而，鲜有研究探索人类与扑翼无人机之间的实际交互。在建立与扑翼无人机的物理交互系统时，我们可以从猎鹰者引导猛禽降落在手臂上的方式中获得灵感。这种交互将人体解释为动态降落平台，可用于拥挤或空间受限等各种场景。因此，在本研究中，我们提出了一种仿猎鹰式交互系统，扑翼无人机在人类手上执行手掌降落动作。为实现向人类的安全接近，我们设计了一种轨迹规划方法，综合考虑了人类安全的物理和心理因素，如无人机速度和与用户的距离。我们使用带有我们实现运动规划的商业扑翼平台，并进行了实验以评估手掌降落性能和安全性。结果表明，我们的方法能够实现安全且流畅的手部降落交互。据我们所知，这是首次实现扑翼无人机与人类之间基于接触的交互。
英文摘要：
Flapping-wing drones have attracted significant attention due to their biomimetic flight. They are considered more human-friendly due to their characteristics such as low noise and flexible wings, making them suitable for human-drone interactions. However, few studies have explored the practical interaction between humans and flapping-wing drones. On establishing a physical interaction system with flapping-wing drones, we can acquire inspirations from falconers who guide birds of prey to land on their arms. This interaction interprets the human body as a dynamic landing platform, which can be utilized in various scenarios such as crowded or spatially constrained environments. Thus, in this study, we propose a falconry-like interaction system in which a flapping-wing drone performs a palm landing motion on a human hand. To achieve a safe approach toward humans, we design a trajectory planning method that considers both physical and psychological factors of the human safety such as the drone's velocity and distance from the user. We use a commercial flapping platform with our implemented motion planning and conduct experiments to evaluate the palm landing performance and safety. The results demonstrate that our approach enables safe and smooth hand landing interactions. To the best of our knowledge, it is the first time to achieve a contact-based interaction between flapping-wing drones and humans.
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。
