Research and development of high-pressure jet-actuated agile drones and their controllers

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K14119
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Osaka University (2022-2023); Tohoku University (2021)
• Principal Investigator: Ambe Yuichi 大阪大学, 大学院基礎工学研究科, 助教 (90778622)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: 流体アクチュエータ / 流体噴射 / ドローン / 索状体 / 噴射ドローン / 高圧流体

Outline of Final Research Achievements

This research developed fundamental technologies for an agile jet-actuated drone powered by high-pressure injections.
(1) We developed a lightweight, low-friction, high-pressure swivel joint (approximately one-third the weight and half the rotational resistance compared to a conventional design). Using this, we developed a lightweight active nozzle capable of controlling the injection direction. The ability to control the direction of the jet reaction force was validated experimentally.
2. To stabilize the position and attitude of the drone with minimal control inputs, we developed a three-dimensional dynamic simulation of the drone, including the hose. We verified that the proposed controller could stabilize the attitude around two axes through mathematical and numerical calculations.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

本研究では，高圧流体の噴射方向を制御できる軽量アクチュエータを初めて実現し，これを用いて浮上する噴射ドローンの制御法の基礎検証を行った．本アクチュエータは大きな並進力を小さな力で素早く制御できるこれまでにない技術であり，既存の浮上移動体の課題である，荒天時の機敏な浮上移動の実現につながる学術的に意義のある成果である．また，噴射ドローンは，強風時の情報収集や，荒天時の空飛ぶ人命救助ロープ，自ら火元へ水を運ぶ消火ロボットなどに応用でき，社会的意義も少なくないと考える．