2022/11/22 by Zha, Jiaming, Wu, Xiangyu, Dimick, Ryan +1 · 1 citation
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2211.12045
We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations post-collision. We present a model-based design approach, which guides the selection of the tensegrity components by predicting structural stresses through a dynamics simulation. Furthermore, we develop an autonomous re-orientation controller that facilitates post-collision flight resumption. The controller enables the vehicles to rotate from an arbitrary orientation on the ground for takeoff. With collision resilience and re-orientation ability, the tensegrity aerial vehicles can operate in cluttered environments without complex collision-avoidance strategies. These capabilities are validated by a test of an experimental vehicle operating autonomously in a previously-unknown forest environment.