A Collision-resilient Flying Robot

提出一种在碰撞中存活而非回避碰撞的飞行机器人，从而在杂乱且无 GPS 的空间中无需复杂的感知避障或三维建图。带有推进和稳定装置的内框架置于保护笼内，通过自由旋转的三轴万向节连接，从而限制撞击时传递到框架的摩擦力矩。在碰撞模型和实验的指导下，GimBall 原型机在多次撞击障碍物的情况下完全自主地飞越了一片森林。

主要发现

• A free-rotating three-axis gimbal cage decouples impact friction torque from the flight frame
• Prototype flew autonomously through a forest while colliding with obstacles several times

局限

• Abstract (via Crossref) only reviewed
• Proof-of-concept tested in forest/search-and-rescue settings, not in industrial assets
• Cage adds mass and reduces payload and endurance