DuctAM：一种导管辅助的基于四旋翼的空中机械臂，实现高力推拉交互
DuctAM: A Duct-Assisted Quadrotor-Based Aerial Manipulator Enabling High-Force Push-and-Pull Interactions
- Nanyang Technological University（南洋理工大学）
- NTU–VinUni Joint Research Laboratory for Embodied AI and Robotics（南洋理工大学-维纳大学具身智能与机器人联合研究实验室）
- VinUniversity（维纳大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出DuctAM，一种通过集成导管风扇增强水平力能力的四旋翼空中机械臂，采用姿态-力解耦控制，实验验证了其在推拉任务中的高效性与稳定性。
AI中文摘要：
无人空中机械臂（UAMs）将无人空中飞行器（UAVs）的能力从感知扩展到物理交互。在各种空中交互中，推拉操作是基本的操作原语，需要持续的水平力同时保持稳定飞行。在本文中，我们提出了DuctAM，一种紧凑的空中操作平台，通过沿四旋翼交互轴集成两个导管风扇，增强了推拉交互的水平力能力。一种姿态-力解耦控制方案使得无需大的姿态变化即可实现可控的水平力。进行了广泛的实际实验以验证DuctAM。八字轨迹跟踪实验展示了在四旋翼模式和导管模式下稳定的飞行和精确的运动控制。力测量实验量化了DuctAM的解耦纵向力能力。最后，代表性的推拉交互任务，包括推车、关门和开抽屉，验证了DuctAM的实际有效性。结果表明，与传统UAV相比，DuctAM在保持稳定飞行的同时，实现了显著提高的水平交互力能力。
英文摘要：
Uncrewed Aerial Manipulators (UAMs) extend the capabilities of Uncrewed Aerial Vehicles (UAVs) from perception to physical interaction. Among various aerial interactions, push-and-pull operations are fundamental manipulation primitives that require sustained horizontal forces while maintaining stable flight. In this paper, we propose DuctAM, a compact aerial manipulation platform that enhances horizontal force capability for push-and-pull interactions using two ducted fans integrated along the quadrotor interaction axis. An attitude-force decoupled control scheme enables controllable horizontal forces without requiring large attitude changes. Extensive real-world experiments are conducted to validate the DuctAM. Figure-eight trajectory tracking experiments demonstrate stable flight and accurate motion control in both quad and duct modes. Force-measurement experiments quantify the decoupled longitudinal force capability of DuctAM. Finally, representative push-and-pull interaction tasks, including cart pushing, door closing, and drawer opening, verify the practical effectiveness of DuctAM. The results show that DuctAM achieves significantly improved horizontal interaction force capability while maintaining stable flight compared with conventional UAVs.
