Task-Driven Closed-Loop Design Optimization of Passively Morphing Quadrotors for Contact-Mediated Narrow Gap Traversal
Task-Driven Closed-Loop Design Optimization of Passively Morphing Quadrotors for Contact-Mediated Narrow Gap Traversal
This research introduces a closed-loop design method that jointly optimizes quadrotor geometry and the torque-deflection response of two passively folding arms using task success rates in simulation as feedback. The resulting prototype reduces its width from 31.3 cm to 14.1 cm to traverse a 15 cm opening at 2 m/s, tolerates approach-angle errors up to 30 degrees, and folds through a 40 cm confined passage. Compared to a rigid twin, the soft configuration adds only 2 mm of position RMSE and less than 1% electrical power during contact-free flight.
The study presents a closed-loop design optimization method for passively morphing quadrotors that balances folding ratio, flight efficiency, and control tracking performance, validated through simulation-based evaluation of task success rates.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- Environment
- SimulationOpen source S3
Reported numbers
gap width
15
View original evidence
r time. The resulting prototype passively reduces its width from 31.3 to 14.1 cm and traverses a 15 cm wide opening at a 2 m/s reference speed. It also tolerates gap approach-angle errors of up to 30 degrees and folds through a 40 cm long confined passage. Compared to a rigid twin, the soft configuration adds only 2 mm of position RMSE and less than 1% electrical power during contact-free flight. These results show t
Open source S4opening width
15
View original evidence
r time. The resulting prototype passively reduces its width from 31.3 to 14.1 cm and traverses a 15 cm wide opening at a 2 m/s reference speed. It also tolerates gap approach-angle errors of up to 30 degrees and folds through a 40 cm long confined passage. Compared to a rigid twin, the soft configuration adds only 2 mm of position RMSE and less than 1% electrical power during contact-free flight. These results show t
Open source S4position RMSE
2
View original evidence
r time. The resulting prototype passively reduces its width from 31.3 to 14.1 cm and traverses a 15 cm wide opening at a 2 m/s reference speed. It also tolerates gap approach-angle errors of up to 30 degrees and folds through a 40 cm long confined passage. Compared to a rigid twin, the soft configuration adds only 2 mm of position RMSE and less than 1% electrical power during contact-free flight. These results show t
Open source S4electrical power
<1
View original evidence
r time. The resulting prototype passively reduces its width from 31.3 to 14.1 cm and traverses a 15 cm wide opening at a 2 m/s reference speed. It also tolerates gap approach-angle errors of up to 30 degrees and folds through a 40 cm long confined passage. Compared to a rigid twin, the soft configuration adds only 2 mm of position RMSE and less than 1% electrical power during contact-free flight. These results show t
Open source S4approach-angle error
≤30
View original evidence
r time. The resulting prototype passively reduces its width from 31.3 to 14.1 cm and traverses a 15 cm wide opening at a 2 m/s reference speed. It also tolerates gap approach-angle errors of up to 30 degrees and folds through a 40 cm long confined passage. Compared to a rigid twin, the soft configuration adds only 2 mm of position RMSE and less than 1% electrical power during contact-free flight. These results show t
Open source S4confined passage length
40
View original evidence
r time. The resulting prototype passively reduces its width from 31.3 to 14.1 cm and traverses a 15 cm wide opening at a 2 m/s reference speed. It also tolerates gap approach-angle errors of up to 30 degrees and folds through a 40 cm long confined passage. Compared to a rigid twin, the soft configuration adds only 2 mm of position RMSE and less than 1% electrical power during contact-free flight. These results show t
Open source S4
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
esign method that jointly optimizes quadrotor geometry and the torque-deflection response of two passively folding arms driven by the success rate in simulation for contact-mediated gap traversal. An optimization algorithm samples candidate designs that are evaluated in a contact-based simulation of the traversal task, where the task success rate is used as a feedback signal to sample progressively better designs ove
Open source S3
r time. The resulting prototype passively reduces its width from 31.3 to 14.1 cm and traverses a 15 cm wide opening at a 2 m/s reference speed. It also tolerates gap approach-angle errors of up to 30 degrees and folds through a 40 cm long confined passage. Compared to a rigid twin, the soft configuration adds only 2 mm of position RMSE and less than 1% electrical power during contact-free flight. These results show t
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org