The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a non-linear motion controller to handle collisions while performing aggressive maneuvers and stabilize from high-speed wall collisions. Further, a new collision-inclusive planning method that aims to prioritize contacts to facilitate aerial robot navigation in cluttered environments is proposed. A range of simulated and physical experiments demonstrate key benefits of the robot and the contact-prioritized (CP) planner. Experimental results show that the compliant robot has only a $4\%$ weight increase but around $40\%$ impact reduction in drop tests and wall collision tests. s-ARQ can handle collisions while performing aggressive maneuvers and stabilize from high-speed wall collisions at $3.0$ m/s with a success rate of $100\%$. Our proposed compliant robot and contact-prioritized planning method can accelerate computation time while having shorter trajectory time and larger clearances compared to A$^\ast$ and RRT$^\ast$ planners with velocity constraints. Online planning tests in partially-known environments further demonstrate the preliminary feasibility of our method to apply in practical use cases.

翻译：本文开发了一种具有抗冲击能力的空中机器人（s-ARQ），其配备柔性臂以感知接触并减少碰撞冲击，同时集成实时接触力估计器与非线性运动控制器，使其能够在执行激进机动时处理碰撞，并在高速墙壁碰撞后实现稳定。进一步地，本文提出了一种新的包含碰撞的规划方法，旨在优先考虑接触以促进空中机器人在杂乱环境中的导航。一系列仿真与物理实验展示了该机器人与接触优先（CP）规划器的关键优势。实验结果表明，该柔性机器人在跌落测试和墙壁碰撞测试中仅增重4%，但冲击力降低约40%。s-ARQ能够处理碰撞并执行激进机动，在3.0米/秒高速墙壁碰撞后实现100%成功率的稳定。相较于具有速度约束的A*和RRT*规划器，本文提出的柔性机器人与接触优先规划方法能够在缩短轨迹时间并增大安全间隙的同时加速计算。部分已知环境中的在线规划测试进一步证明了该方法在实际应用中的初步可行性。