Development and Experimental Validation of Aerial Vehicle With Passive Rotating Shell on Each Rotor
Development and Experimental Validation of Aerial Vehicle With Passive Rotating Shell on Each Rotor
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DOI：
10.1109/lra.2019.2894903
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发表时间：
2019-01
影响因子：
5.2
通讯作者：
C. J. Salaan;K. Tadakuma;Yoshito Okada;Yusuke Sakai;K. Ohno;S. Tadokoro
中科院分区：
文献类型：
--
作者：
C. J. Salaan;K. Tadakuma;Yoshito Okada;Yusuke Sakai;K. Ohno;S. Tadokoro
空中机器人是一个快速发展的机器人领域，并已成功地用于各种应用。尽管如此，它仍然面临着许多挑战，例如在混乱的环境中处理不可避免的障碍。最近，一个飞行机器人与保护壳，可以被动旋转介绍。被动旋转机构的目的是减少对无人机姿态的冲击力。然而，这样的系统也有一些局限性。由于外壳被动旋转，在外壳外进行物理交互的能力受到限制，并且机载摄像头和其他远程传感器不断受到阻碍。在这封信中，一个新的想法是为了应对以前的系统的局限性，同时保留保护壳，并保持一定程度的被动旋转的外壳。建议在每个旋翼中放置两个被动旋转半球壳，以直接保护螺旋桨。这封信提出了概念，讨论了设计和概念证明，并通过实验验证了概念。进行了各种实验，以证明所提出的飞行机器人的能力，解决物理交互和相机障碍的问题，并引入新的优势。
Aerial robotics is a fast-growing field of robotics and has been successfully used in various applications. Still, it faces many challenges, such as dealing with unavoidable obstacles in a cluttered environment. Recently, a flying robot with a protective shell that can rotate passively was introduced. The passive rotating mechanism is intended to reduce the impact force on the attitude of the UAV. However, such a system also has some limitations. Because the shell rotates passively, the ability to physically interact outside the shell is limited, and the onboard camera and other remote sensors are constantly obstructed. In this letter, a new idea is introduced in response to the limitations of the previous system while retaining the protective shell and maintaining some degrees of passive rotation of the shell. It is proposed to position two passive rotating hemispherical shells in each rotor to directly protect the propeller. This letter presents the concept, discusses the design and proof of concept, and validates the concept through experiments. Various experiments are conducted to demonstrate the capabilities of the proposed flying robot, resolve the problem of physical interaction and camera obstruction, and introduce new advantages.