发表机构
Nanyang Technological University; NTU–VinUni Joint Research Laboratory for Embodied AI and Robotics; VinUniversity（南洋理工大学; 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; 维纳大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出紧凑型四旋翼空中机械臂QuadHand，结合MRC-SDF多关节机器人中心符号距离场与时空全身轨迹优化，实现复杂环境下安全可执行的空中操作。
AI 中文摘要
无人空中机械臂（UAMs）将机械臂与空中平台集成，用于三维物理交互。然而，扩大工作空间会增加机械臂引起的扰动，而现有的几何表示在近距离交互中面临几何保真度与计算效率之间的权衡。本文提出QuadHand，一种紧凑型四旋翼空中机械臂，配备3自由度机械臂、夹爪和电池辅助被动重心补偿模块，以减少主要的机械臂引起的扰动。我们进一步提出MRC-SDF，一种多关节机器人中心符号距离场，在可处理的计算下保留精细几何细节，以及一种时空全身轨迹优化框架，联合优化四旋翼和机械臂，以生成安全且可执行的轨迹。仿真和真实世界实验证明了在复杂环境中安全且可执行的空中操作。
英文摘要
Uncrewed aerial manipulators (UAMs) integrate robotic arms with aerial platforms for three-dimensional physical interaction. However, enlarging the workspace increases arm-induced disturbances, while existing geometric representations face a trade-off between geometric fidelity and computational efficiency in close-proximity interaction. This paper presents QuadHand, a compact quadrotor aerial manipulator with a 3-DoF arm, gripper, and battery-assisted passive CoG compensation module to reduce dominant arm-induced disturbances. We further propose MRC-SDF, a Multi-articulated Robot-Centric Signed Distance Field that preserves fine geometric detail with tractable computation, and a spatiotemporal whole-body trajectory optimization framework that jointly optimizes the quadrotor and manipulator for safe and executable trajectory generation. Simulations and real-world experiments demonstrate safe and executable aerial manipulation in complex environments.
