发表机构
University of Wisconsin–Madison; Shanghai Innovation Institute (SII)（威斯康星大学麦迪逊分校; 上海创新研究院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究设计新型空陆机器人DASH，通过整合管道风扇同轴体与弹性腿，并采用接触隐式模型预测控制器，实现空中和地面的最优运动，经多种任务验证了其设计与控制的有效性。
AI 中文摘要
我们展示了一种新型简约的空陆机器人DASH（管道式空中弹簧跳跃器）的设计。目标是在一个机械简约、运动多功能且节能的统一移动机器人上实现空中和地面运动能力。我们提出将管道风扇同轴体与底部弹性腿进行有机整合来实现。管道风扇模块提供推力矢量作为敏捷飞行的主要驱动；与轻质弹簧腿结合时，机器人通过能量循环实现高效地面跳跃。此外，为实现两种模式的最优运动，我们采用接触隐式模型预测控制器自动选择运动模式和驱动。我们通过一系列任务成功验证了DASH的设计和控制，包括周期性跳跃、空中飞行以及在穿越障碍物时无模式运动和自主模式转换。
英文摘要
We present a novel and minimalistic design of an aerial-terrestrial robot DASH: Ducted Aerial Spring Hopper. The goal is to enable both aerial and ground locomotion capabilities on a unified mobile robot that is mechanically-minimalistic, locomotion-versatile, and energy-efficient. We propose an organic integration of ducted fan co-axial body with a springy leg at the bottom for realization. The ducted fan module provides thrust-vectoring as the main actuation for agile flying; when it is combined with the light-weight spring leg, the robot realizes highly efficient ground hopping with energy circulation. Moreover, to realize optimal locomotion with two modes, we employ a contact-implicit model predictive controller to automatically choose locomotion modes and actuation. We successfully validated the design and control of DASH through a range of tasks, including periodic hopping, aerial flight, and mode-free locomotion with autonomous mode transitions during obstacle traversal.
CommentsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026
