多旋翼空中机器人的混合阻抗-导纳控制用于接触丰富的表面滑动任务

中文摘要 AI 辅助

多旋翼空中机器人可在飞行过程中主动变形其铰接结构，在空中操作方面具有强大潜力。然而，它们在接触丰富的空中操作任务（如表面滑动）中仍面临重大挑战，这类任务既需要抗干扰性，又需要对不确定的表面几何形状具备柔顺性。阻抗和导纳控制等力控制策略通常用于满足这些要求。尽管阻抗控制可提供抗干扰交互，导纳控制可实现柔顺适应，但它们相反的力-运动因果关系，导致通过同一驱动源（如传统空中机器人使用的旋翼推力）实施时无法同时应用。为克服这一限制，我们提出一种用于多旋翼空中机器人的混合阻抗-导纳控制策略。其铰接形态实现了力和运动调节在关节与旋翼驱动源之间的功能分离。在该框架中，导纳行为通过关节角度调节生成以增强自适应交互，而阻抗行为通过调节旋翼推力来调节滑动运动。这种结构协调使机器人能利用两种控制范式的互补优势，从而实现多旋翼空中机器人的弹性和自适应表面滑动。实验结果表明，该机器人在未知表面上展现出稳健且柔顺的滑动性能。

英文摘要

Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong potential for aerial manipulation. However, they still face substantial challenges in contact-rich aerial manipulation tasks such as surface sliding, which requires both disturbance robustness and compliance to uncertain surface geometry. Force-control strategies such as impedance and admittance control are commonly employed to address these requirements. Although impedance control can provide disturbance-resistant interaction and admittance control can offer compliant adaptation, their opposite force--motion causalities prevent their simultaneous implementation when applied through the same actuation source, such as the rotor thrusts used by conventional aerial robots. To overcome this limitation, we propose a hybrid impedance--admittance control strategy for a multi-link aerial robot. The articulated morphology enables a functional separation of force and motion regulation across joint and rotor actuation sources. In this framework, admittance behavior is generated through joint angle regulation to enhance adaptive interaction, while impedance behavior is achieved by modulating rotor thrust to regulate the sliding motion. This structural coordination allows the robot to leverage the complementary strengths of both control paradigms. As a result, the multi-link aerial robot achieves resilient and adaptive surface sliding. Experimental results demonstrate robust and compliant sliding performance on unknown surfaces.

发表机构

• The University of Tokyo（东京大学）

机构由 AI 辅助整理，请以论文原文为准。