发表机构
Hunan University; National Engineering Research Center for Robot Visual Perception and Control Technology; Beihang University（湖南大学; 国家机器人视觉感知与控制技术工程研究中心; 北京航空航天大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出空中刚柔集成机械臂AeRSoM，通过分布式具身柔顺与变刚度调节实现稳定飞行、柔顺交互和精确操作，经真实实验验证显著提升交互鲁棒性与任务适应性。
AI 中文摘要
接触丰富的空中操作仍然面临根本性挑战，因为相互作用力直接传递到空中平台，常常导致不稳定和任务性能下降。虽然柔顺机械臂可以缓解这些影响，但现有的空中操作系统通常难以在交互柔顺性与操作精度之间取得平衡。为此，本文提出了一种空中刚柔集成机械臂（AeRSoM）机器人，实现了空中操作的具身柔顺性。所提出的系统集成了全驱动空中平台、刚柔机械臂和变刚度调节，以同时实现稳定飞行、柔顺交互和精确操作。通过在整个操作系统中分布柔顺性，所提出的设计利用分布式具身柔顺性被动吸收接触扰动，同时保持足够的刚度以执行任务。为充分利用机械设计，开发了一种复合控制框架，用于在存在不确定性和外部扰动的情况下实现精确的末端执行器轨迹跟踪。在具有代表性的接触丰富空中操作任务中进行了广泛的真实世界实验，包括动态输电线路抓取、与风力涡轮机叶片的物理交互、销孔插入和拧螺丝操作。结果表明，所提出的刚柔集成显著提高了交互鲁棒性和任务适应性，同时保持了操作精度，突显了具身柔顺性为增强空中操作的安全性、鲁棒性和多功能性提供了一种有前景的设计范式。
英文摘要
Contact-rich aerial manipulation remains fundamentally challenging because interaction forces are directly transmitted to the aerial platform, often leading to instability and degraded task performance. While compliant manipulators can mitigate these effects, existing aerial manipulation systems typically struggle to reconcile interaction compliance with manipulation precision. To this end, this article presents an aerial rigid-soft integrated manipulator (AeRSoM) robot that realizes embodied compliance for aerial manipulation. The proposed system integrates a fully actuated aerial platform, a rigid-soft manipulator, and variable-stiffness regulation to simultaneously achieve stable flight, compliant interaction, and precise manipulation. By distributing compliance throughout the manipulation system, the proposed design leverages distributed embodied compliance to passively absorb contact disturbances while preserving sufficient stiffness for task execution. To fully exploit the mechanical design, a composite control framework is developed for precise end-effector trajectory tracking in the presence of uncertainties and external disturbances. Extensive real-world experiments are conducted in representative contact-rich aerial manipulation tasks, including dynamic transmission-line grasping, physical interaction with a wind turbine blade, peg-in-hole, and screwing operations. The results demonstrate that the proposed rigid-soft integration significantly improves interaction robustness and task adaptability while maintaining manipulation accuracy, highlighting that embodied compliance provides a promising design paradigm for enhancing the safety, robustness, and versatility of aerial manipulation.
