PogoDrone: Design, Model, and Control of a Jumping Quadrotor
PogoDrone: Design, Model, and Control of a Jumping Quadrotor
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DOI：
10.48550/arxiv.2204.00207
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发表时间：
2022-04
期刊：
影响因子：
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通讯作者：
Brian Zhu;Jiawei Xu;A. Charway;David Saldaña
中科院分区：
文献类型：
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作者：
Brian Zhu;Jiawei Xu;A. Charway;David Saldaña
我们提出了一种设计，模型和控制的一种新的跳跃飞行机器人，被称为PogoDrone。该机器人由四旋翼组成，带有被动跳跃机构。机器人可以连续跳跃到位或像普通的四旋翼飞行器一样飞行。原地跳跃可以让机器人快速移动，并在非常接近地面的地方操作。例如，在农业应用中，跳跃机制允许机器人采集土壤样本。我们提出了一个混合控制器，从姿态切换到位置控制，让机器人水平下降，并恢复到原来的位置。比较了跳跃模式和悬停模式的能量消耗。在模拟中，我们评估了不同因素对能耗的影响。在真实的实验中，我们展示了我们的机器人可以在物理环境中反复撞击地面、跳跃和飞行。
We present a design, model, and control for a novel jumping-flying robot that is called PogoDrone. The robot is composed of a quadrotor with a passive mechanism for jumping. The robot can continuously jump in place or fly like a normal quadrotor. Jumping in place allows the robot to quickly move and operate very close to the ground. For instance, in agricultural applications, the jumping mechanism allows the robot to take samples of soil. We propose a hybrid controller that switches from attitude to position control to allow the robot to fall horizontally and recover to the original position. We compare the jumping mode with the hovering mode to analyze the energy consumption. In simulations, we evaluate the effect of different factors on energy consumption. In real experiments, we show that our robot can repeatedly impact the ground, jump, and fly in a physical environment.