Micro Aerial Vehicles (MAVs) often face a high risk of collision during autonomous flight, particularly in cluttered and unstructured environments. To mitigate the collision impact on sensitive onboard devices, resilient MAVs with mechanical protective cages and reinforced frames are commonly used. However, compliant and impact-resilient MAVs offer a promising alternative by reducing the potential damage caused by impacts. In this study, we present novel findings on the impact-resilient capabilities of MAVs equipped with passive springs in their compliant arms. We analyze the effect of compliance through dynamic modeling and demonstrate that the inclusion of passive springs enhances impact resilience. The impact resilience is extensively tested to stabilize the MAV following wall collisions under high-speed and large-angle conditions. Additionally, we provide comprehensive comparisons with rigid MAVs to better determine the tradeoffs in flight by embedding compliance onto the robot's frame.

翻译：微型飞行器在自主飞行过程中，特别是在杂乱无序的非结构化环境中，常面临较高的碰撞风险。为减轻碰撞对敏感机载设备的冲击，通常采用配备机械防护笼和加固框架的抗冲击设计。然而，具有柔顺性和抗冲击能力的微型飞行器通过降低冲击潜在损伤，提供了一种前景广阔的替代方案。本研究针对搭载无源弹簧的柔顺臂微型飞行器，提出了关于其抗冲击能力的新发现。通过动力学建模分析柔顺性的影响，证明无源弹簧的引入能够增强抗冲击性能。我们在高速大角度条件下对墙碰撞后的微型飞行器进行恢复稳定性的全面测试，以验证其抗冲击能力。此外，通过与传统刚性微型飞行器的综合对比，更准确地评估了在机器人框架中嵌入柔顺性对飞行性能的权衡影响。