From Flies to Robots: Inverted Landing in Small Quadcopters With Dynamic Perching

IF 9.4 1区 计算机科学 Q1 ROBOTICS
Bryan Habas;Bo Cheng
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Abstract

Inverted landing is a routine behavior among a number of animal fliers. However, mastering this feat poses a considerable challenge for robotic fliers, especially to perform dynamic perching with rapid body rotations (or flips) and landing against gravity. Inverted landing in flies have suggested that optical flow senses are closely linked to the precise triggering and control of body flips that lead to a variety of successful landing behaviors. Building upon this knowledge, we aimed to replicate the flies' landing behaviors in small quadcopters by developing a control policy general to arbitrary ceiling-approach conditions. First, we employed reinforcement learning in simulation to optimize discrete sensory-motor pairs across a broad spectrum of ceiling-approach velocities and directions. Next, we converted the sensory-motor pairs to a two-stage control policy in a continuous optical flow space augmented by ceiling distance measurement. The control policy consists of a first-stage Flip-Trigger Policy, which employs a one-class support vector machine, and a second-stage Flip-Action Policy, implemented as a feed-forward neural network. To transfer the inverted-landing policy to physical systems, we utilized domain randomization and system identification techniques for a zero-shot sim-to-real transfer with emulated optical flow using external motion tracking. As a result, we successfully achieved a range of robust inverted-landing behaviors in small quadcopters, emulating those observed in flies.
从苍蝇到机器人:小型四轴飞行器的动态着陆
倒着着陆是许多动物飞行的常规行为。然而,掌握这一壮举对机器人飞行者提出了相当大的挑战,特别是在快速身体旋转(或翻转)和反重力着陆的情况下执行动态栖息。苍蝇的倒着着陆表明,光流感觉与精确触发和控制身体翻转密切相关,从而导致各种成功的着陆行为。基于这些知识,我们的目标是通过开发一种适用于任意上限接近条件的控制策略,在小型四轴飞行器上复制苍蝇的着陆行为。首先,我们在模拟中使用强化学习来优化离散的感觉-运动对,跨越广泛的天花板接近速度和方向。接下来,我们将感觉-运动对转换为连续光流空间中的两阶段控制策略,该控制策略由天花板距离测量增强。该控制策略包括第一阶段的Flip-Trigger策略(采用单类支持向量机)和第二阶段的Flip-Action策略(采用前馈神经网络)。为了将反向着陆策略转移到物理系统中,我们利用域随机化和系统识别技术,利用外部运动跟踪模拟光流进行零射击模拟到真实的转移。因此,我们成功地在小型四轴飞行器上实现了一系列稳健的倒着着陆行为,模拟了在苍蝇身上观察到的行为。
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来源期刊
IEEE Transactions on Robotics
IEEE Transactions on Robotics 工程技术-机器人学
CiteScore
14.90
自引率
5.10%
发文量
259
审稿时长
6.0 months
期刊介绍: The IEEE Transactions on Robotics (T-RO) is dedicated to publishing fundamental papers covering all facets of robotics, drawing on interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, and beyond. From industrial applications to service and personal assistants, surgical operations to space, underwater, and remote exploration, robots and intelligent machines play pivotal roles across various domains, including entertainment, safety, search and rescue, military applications, agriculture, and intelligent vehicles. Special emphasis is placed on intelligent machines and systems designed for unstructured environments, where a significant portion of the environment remains unknown and beyond direct sensing or control.
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