发表机构
Indian Institute of Technology Madras; University of California, Berkeley（印度理工学院马德拉斯分校; 加州大学伯克利分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种几何辅助的三功能变形机器人，融合飞行、地面移动与受控深度种子嵌入，通过重用推进电机钻孔实现无专用钻具的种植，硬件原型验证了地面重定位与种子嵌入能力。
AI 中文摘要
空中种子广播可以到达偏远的恢复地点，但对种子在土壤内的放置位置控制有限。本文提出了一种几何辅助、三功能变形机器人，它在飞行-驱动-种植架构中结合了空中到达、地面移动和受控深度种子嵌入。着陆后，平台重新配置为四轮种植构型：电子耦合的双电机驱动将后臂向外折叠形成地面轮，而下降的前托盘将推进电机与钻头齿轮系接合。重用推进电机进行钻孔消除了专用钻具驱动器。种植序列形成孔洞、分配种子，并允许车辆在地面上重新定位或返回其飞行构型。地面移动支持重复种植，而无需在相邻地点之间进行单独飞行。配套控制器发出重新配置、托盘和种子门命令，而专用自动驾驶仪处理飞行控制。变形和种植机制通过硬件原型验证，该原型展示了地面重新定位和种子嵌入。这一概念验证为通过协调重新配置和致动器重用实现空中-地面种子嵌入建立了硬件基础。
英文摘要
Aerial seed broadcasting can reach remote restoration sites, but provides limited control over seed placement within the soil. This paper presents a geometry-assisted, tri-functional morphing robot that combines aerial access, ground locomotion, and controlled-depth seed embedding in a fly-drive-plant architecture. After landing, the platform reconfigures into a four-wheeled planting configuration: an electronically coupled dual-motor drive folds the rear arms outward to form ground wheels, while a descending front tray engages the propulsion motors with a drill gear train. Reusing the propulsion motors for drilling eliminates a dedicated drill drive. The planting sequence forms a hole, dispenses a seed, and allows the vehicle to reposition on the ground or return to its flight configuration. Ground mobility supports repeated planting without requiring a separate flight between adjacent sites. A companion controller issues reconfiguration, tray, and seed-gate commands, while a dedicated autopilot handles flight control. The morphing and planting mechanisms are validated using a hardware prototype that demonstrates ground repositioning and seed embedding. This proof of concept establishes a hardware basis for aerial-ground seed embedding through coordinated reconfiguration and actuator reuse.
Comments9 pages, 6 figures
