发表机构
National University of Singapore (NUS)（新加坡国立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究设计了带倾转旋翼机构和欠驱动缆线驱动夹持器的无人机，通过环境锚定提升接触任务稳定性，位置漂移RMSE降低95%以上，可承受75N纵向力，适用于复杂物理交互任务。
AI 中文摘要
空中机器人在物理交互过程中保持稳定位姿是一项重大挑战，这常常限制了它们在基于接触的任务中的应用。本文提出了一种新型无人机（UAV）平台，该平台可通过环境锚定从无约束飞行过渡到稳定的受约束工作平台。我们的系统包含两部分：1）具备倾转旋翼机构的多旋翼无人机，该机构将俯仰与前向运动解耦，使其能够在非零俯仰角下稳定悬停；2）一种新型欠驱动、缆线驱动的棱柱形夹持器，该夹持器具备顺应性，可适应不规则几何形状，旨在通过将无人机锚定到环境中来稳定无人机。我们展示了完整系统的设计与原型制作，并通过一系列真实机器人飞行测试验证了其性能。结果表明，锚定可显著提升交互任务的稳定性，与自由飞行基准相比，即使在有风条件下，位置漂移的均方根误差（RMSE）也降低了95%以上。该锚定系统可承受高达75N的纵向反作用力，同时保持稳定位姿。此外，在一系列目标几何形状和方向下，该系统表现出一致的稳定性，位置漂移RMSE从未超过3mm。这些结果证明了我们的方法适用于复杂的物理交互任务，例如通过钻孔采样树木健康状况或在难以到达的位置安装传感器。观看我们的无人机：this https URL
英文摘要
Maintaining a stable pose during physical interaction is a significant challenge for aerial robots, often limiting their use in contact-based tasks. This paper presents a novel uncrewed aerial vehicle (UAV) platform designed to transition from unconstrained flight to a stable, constrained work platform via environmental anchoring. Our system comprises: 1) a multirotor with a tilt-rotor mechanism that decouples pitch from forward motion, enabling stable hover at non-zero pitch angles, and 2) a novel underactuated, cable-driven, prismatic gripper featuring compliance to adapt to irregular geometries, designed to stabilize the UAV by anchoring it to its environment. We present the design and prototyping of the complete system and validate its performance through a series of real-robot flight tests. Results demonstrate that anchoring significantly improves stability for interaction tasks, reducing positional drift RMSE by over 95% compared to a free-flight baseline, even under windy conditions. The anchored system can withstand longitudinal reaction forces up to 75N while maintaining a stable pose. Furthermore, across a range of target geometries and orientations, the system demonstrated consistent stability with a positional drift RMSE that never exceeded 3mm. These results establish the viability of our approach for complex physical interaction tasks, such as sampling tree health by drilling or sensor installation in hard-to-reach locations. Watch our UAV at: https://youtu.be/HDQ8S4ZW3Ls
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