The aerial robot presented here for the first time was based on a quadrotor structure, which is capable of unique morphing performances based on an actuated elastic mechanism. Like birds, which are able to negotiate narrow apertures despite their relatively large wingspan, our Quad-Morphing robot was able to pass through a narrow gap at a high forward speed of 2.5 m.s− 1 by swiftly folding up the structure supporting its propellers. A control strategy was developed to deal with the loss of controllability on the roll axis resulting from the folding process, while keeping the robot stable until it has crossed the gap. In addition, a complete recovery procedure was also implemented to stabilize the robot after the unfolding process. A new metric was also used to quantify the gain in terms of the gap-crossing ability in comparison with that observed with classical quadrotors with rigid bodies. The performances of these morphing robots are presented, and experiments performed with a real flying robot passing through a small aperture by reducing its wingspan by 48% are described and discussed.
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机译：首次在此展示的空中机器人基于四旋翼结构，该结构具有基于致动弹性机构的独特变形性能。就像鸟类一样，尽管它们的翼展相对较大，它们仍然能够协商狭窄的孔径，我们的Quad-Morphing机器人通过迅速折叠能够以2.5 ms −1 的高向前速度通过狭窄的间隙支撑螺旋桨的结构。开发了一种控制策略来应对由于折叠过程而导致的滚动轴失去可控制性的问题，同时保持机器人稳定直到其越过间隙。此外，在展开过程之后，还执行了完整的恢复过程来稳定机器人。与采用刚性刚体的经典四旋翼转子相比，还采用了一种新的度量标准来对通过间隙的增益进行量化。介绍了这些变形机器人的性能，并描述和讨论了使用真实飞行机器人通过将翼展减小48％穿过小孔进行的实验。
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