In this article, we introduce XPLORER, a passive deformable quadrotor optimized for performing contact-rich tasks by utilizing collision-induced deformation. We present a novel external force estimation technique, and advanced planning and control algorithms that exploit the compliant nature of XPLORER's chassis. These algorithms enable three distinct flight behaviors: static-wrench application, where XPLORER can exert desired forces and torque on surfaces for precise manipulation; disturbance rejection, wherein the quadrotor actively mitigates external forces and yaw disturbances to maintain its intended trajectory; and yielding to disturbance, enabling XPLORER to dynamically adapt its position and orientation to evade undesired forces, ensuring stable flight amidst unpredictable environmental factors. Leveraging these behaviors, we develop innovative mission strategies including tactile-traversal, tactile-turning, and collide-to-brake for contact-based exploration of unknown areas, contact-based mapping and swift navigation. Through experimental validation, we demonstrate the effectiveness of these strategies in enabling efficient exploration and rapid navigation in unknown environments, leveraging collisions as a means for feedback and control. This study contributes to the growing field of aerial robotics by showcasing the potential of passive deformable quadrotors for versatile and robust interaction tasks in real-world scenarios.

翻译：本文介绍了XPLORER——一种通过利用碰撞引起的变形而优化的被动变形四旋翼，专门用于执行高接触任务。我们提出了一种新颖的外力估计技术，以及利用XPLORER机架柔顺特性的先进规划与控制算法。这些算法实现了三种不同的飞行行为：静态力矩施加——使XPLORER能够在表面上施加所需力和力矩以进行精确操作；扰动抑制——四旋翼主动抑制外力和偏航扰动以维持预定轨迹；以及向扰动屈服——使XPLORER能够动态调整其位置和姿态以规避非期望力，从而在不可预测环境因素中保持稳定飞行。借助这些行为，我们开发了创新任务策略，包括触觉遍历、触觉转向和碰撞制动，用于基于接触的未知区域探索、接触式建图和快速导航。通过实验验证，我们证明了这些策略在利用碰撞作为反馈与控制手段，实现未知环境中高效探索与快速导航方面的有效性。本研究通过展示被动变形四旋翼在现实场景中实现多功能且鲁棒的交互任务的潜力，为不断发展的空中机器人领域做出了贡献。