Task-Driven Closed-Loop Design Optimization of Passively Morphing Quadrotors for Contact-Mediated Narrow Gap Traversal
Overview
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.
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Environment: simulation
“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”
Exact source · revision 1Source owner not reported
Reported quantity · gap width: 15 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · opening width: 15 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · position RMSE: 2 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · electrical power: 1 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · approach-angle error: 30 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · confined passage length: 40 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalTask-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.
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