This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a hexacopter. A two-degree-of-freedom head and two five-degree-of-freedom arms equipped with softhands provide the requisite dexterity to allow human operators to carry out various tasks. A robust tendon-driven structure is purposefully designed for the arms, considerably reducing the impact of arm inertia on the floating base in motion. In addition, tendons provide flexibility to the joints, which enhances the robustness of the arm preventing damage in interaction with the environment. To increase the payload of the aerial system and the battery life, we use the concept of Suspended Aerial Manipulation, i.e., the flying humanoid can be connected with a tether to a structure, e.g., a larger airborne carrier or a supporting crane. Importantly, to maximize portability and applicability, we adopt a modular approach exploiting commercial components for the aerial base hardware and autopilot, while developing an outer stabilizing control loop to maintain the attitude, compensating for the tether force and for the humanoid head and arm motions. The humanoid can be controlled by a remote operator, thus effectively realizing a Suspended Aerial Manipulation Avatar. The proposed system is validated through experiments in indoor scenarios reproducing post-disaster tasks.

翻译：本文提出了一种空中平台，能够在人类监督下以类人灵巧度在非结构化环境中执行物理交互任务。该空中平台由拟人躯干与六旋翼飞行器组成。配备两自由度头部和两支搭载软体手的五自由度手臂，为人类操作员执行各类任务提供了必要灵巧度。手臂采用专门设计的稳健肌腱驱动结构，可大幅降低运动时手臂惯性对浮动基座的影响。此外，肌腱赋予关节柔性，增强了手臂在环境交互中抵御损伤的鲁棒性。为提升空中系统有效载荷与电池续航，我们采用悬挂式空中操作概念——即该飞行类人机器人可通过系留绳索与外部结构（如大型空中运载平台或支撑吊臂）连接。关键创新在于：为最大化便携性与适用性，我们采用模块化方法，在商用组件构建飞行基座硬件与自动驾驶仪的基础上，开发了外部稳定控制回路以维持姿态，补偿系留拉力及类人头臂运动产生的扰动。操作员可通过远程操控该拟人机器人，从而有效构建悬挂式空中操作替身。通过再现灾后任务的室内场景实验，验证了所提系统的有效性。