论文标题
带有二十面体张力结构的碰撞弹性航空车辆
A collision-resilient aerial vehicle with icosahedron tensegrity structure
论文作者
论文摘要
具有碰撞弹性的航空车辆可以对难以检测和避免的障碍的环境更有信心运作。本文介绍了用于设计具有Icosahedron紧张结构的碰撞弹性航空车辆的方法。对影响力下的张力框架进行了简化的应力分析，以指导其组件的选择。此外，提出了一个自主控制器，以从当地的任意方向重新定位车辆以帮助其起飞。实验表明，车辆颠倒下降后可以成功地重新定位自己，并且可以以高达6.5m/s的速度生存碰撞。
Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology used to design a collision resilient aerial vehicle with icosahedron tensegrity structure. A simplified stress analysis of the tensegrity frame under impact forces is performed to guide the selection of its components. In addition, an autonomous controller is presented to reorient the vehicle from an arbitrary orientation on the ground to help it take off. Experiments show that the vehicle can successfully reorient itself after landing upside-down and can survive collisions with speed up to 6.5m/s.
