PufferBot: Actuated Expandable Structures for Aerial Robots

被引：16

作者：

Hedayati, Hooman ^{[1
]}

Suzuki, Ryo ^{[1
,2
]}

Leithinger, Daniel ^{[1
,3
]}

Szafir, Daniel ^{[1
,3
]}

机构：

[1] Univ Colorado Boulder, Dept Comp Sci, Boulder, CO 80309 USA

[2] Univ Calgary, Dept Comp Sci, Calgary, AB, Canada

[3] Univ Colorado Boulder, ATLAS Inst, Boulder, CO USA

来源：

2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2020年

关键词：

QUADROTOR;

D O I：

10.1109/IROS45743.2020.9341088

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present PufferBot, an aerial robot with an expandable structure that may expand to protect a drone's propellers when the robot is close to obstacles or collocated humans. PufferBot is made of a custom 3D-printed expandable scissor structure, which utilizes a one degree of freedom actuator with rack and pinion mechanism. We propose four designs for the expandable structure, each with unique characterizations for different situations. Finally, we present three motivating scenarios in which PufferBot may extend the utility of existing static propeller guard structures.

引用

页码：1338 / 1343

页数：6

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