发表机构
University of California San Diego; Georgia Institute of Technology; Montana State University（加利福尼亚大学圣迭戈分校; 佐治亚理工学院; 蒙大拿州立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文开发首个采用异步驱动的扑翼机器人，模拟昆虫异步肌肉，实现无需传感的快速响应，在杂乱环境中显著提升稳定性和性能。
AI 中文摘要
驱动昆虫飞行的肌肉分为两类：1）同步肌肉，在神经系统的直接控制下收缩；2）异步肌肉，具有内在的拉伸激活响应，无需大脑信号即可自发产生翼拍。人们认为，异步翼拍的涌现特性为飞行控制提供了自适应和响应能力。迄今为止，大多数飞行机器人使用同步驱动。在本文中，我们开发了首个使用异步驱动的可飞行扑翼机器人。我们证明，异步驱动使翅膀无需控制输入即可响应身体共振力学的变化，并且翅膀能在无需外部传感的情况下瞬时响应与障碍物的碰撞。在杂乱环境中的飞行测试表明，与同步驱动相比，异步驱动显著提高了稳定性和性能。总体而言，这项工作表明，模拟飞行昆虫异步肌肉的扑翼机器人驱动策略，能在控制系统介入之前提供快速、反应性的驱动响应。这种将具身控制分配到低层驱动动力学和高层感觉运动系统的做法，为新型飞行机器人提供了引人注目的蓝图。
英文摘要
The muscles that power insect flight fall into one of two categories: 1) synchronous muscles that contract under direct control from the nervous system, and 2) asynchronous muscles which have an intrinsic stretch activation response that spontaneously generates wingbeats without the need for signaling from the brain. It is thought that the emergent nature of asynchronous wingbeats provides both adaptive and responsive capabilities for flight control. To date, most flying robots use synchronous actuation. In this paper we develop the first flight-capable flapping wing robot that uses asynchronous actuation. We demonstrate that asynchronous actuation allows wings to respond to changes in the resonant mechanics of the body without control input, and wings can react instantaneously to collisions with obstacles with no extrinsic sensing needed. Flight tests within cluttered environments demonstrate that asynchronous actuation significantly improves stability and performance when compared to synchronous actuation. In total this work demonstrates that a flapping wing robot actuation strategy that emulates the asynchronous muscles of flying insects can provide fast, reactive actuation responses before a control system would need to intervene. This partitioning of embodied control to both the low-level actuation dynamics and and high-level sensorimotor system provides a compelling blueprint for new flying robots.
