发表机构
Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS); The Chinese University of Hong Kong, Shenzhen (CUHK-Shenzhen); Stevens Institute of Technology（深圳社会人工智能与机器人研究所; 香港中文大学（深圳）; 史蒂文斯理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究针对水面救援中快速捞出受害者的问题，提出QuadBoat四足水面机器人，通过逆运动学及级联控制实现精确追踪找回物体，经机动性、跟踪等实验验证其高敏捷性、精度及系统机动性，视觉实验进一步验证其救援有效性。
AI 中文摘要
在水面救援任务中，迅速从水中救出受害者至关重要。然而，以往对救援机器人的研究很少涉及此问题。本文提出了QuadBoat，一种受生物启发的无人水面航行器（USV），旨在追踪并从水中找回受害者。QuadBoat具有四足机器人配置，通过主动调整姿态具备高度适应性和敏捷机动性。采用基于逆运动学的控制器和级联模型预测控制（MPC）-PID控制器进行整体运动控制，QuadBoat能精确追踪并找回水面上的物体。机动性演示验证了其高敏捷性，一系列跟踪实验，包括腿部动作跟踪和轨迹跟踪，证实了其高运动精度和系统机动性。最后，基于视觉的跟踪和物体拾取实验进一步验证了QuadBoat在室内外的目标跟踪能力及其执行救援的有效性。
英文摘要
Prompt extraction of victims from water is crucial in water surface rescue missions. However, previous research on rescue robots has seldom addressed this issue. This paper presents QuadBoat, a bio-inspired unmanned surface vehicle (USV) designed to track and retrieve victims from water. QuadBoat features a quadrupedal robot configuration, enabling it with highly adaptable and agile maneuverability through its actively adjustable posture. Employing an inverse kinematics-based controller and cascaded model predictive control (MPC)-PID controller for overall movement, QuadBoat can accurately track and retrieve objects on the water surface. Maneuverability demonstrations validate QuadBoat's high agility, while a series of tracking experiments, including leg action tracking and trajectory tracking, confirm its high motion accuracy and system mobility. Finally, visual-based tracking and object pickup experiments further verify QuadBoat's target tracking capabilities and its effectiveness in executing rescues, both indoors and outdoors.
