الملخص
Combining aerial thrust with spring-loaded hopping makes monopedal quadcopters promising for locomotion over complex terrain, but heuristic proportional-integral-derivative (PID) tuning limits coordination between active thrust and passive contact dynamics. We present a direct estimated-state-to-motor Proximal Policy Optimization (PPO) policy that commands four motors without an explicit hopping state machine or low-level attitude PID. Its reward combines Energy-Manifold Shaping for mass-normalized vertical-energy tracking and apex-state anchoring with Efficiency Shaping, which uses a history-aware power estimator to penalize general power use, impose an additional airborne-power cost, and penalize airborne near-stationarity. In representative hardware runs, the PPO-based control stack reduced cycle-averaged measured electrical power by 30.7% and mean total normalized thrust by 49.8% relative to the tuned PID-based control stack, while retaining repeatable commanded-height hopping and more concentrated landings. These observations are consistent with improved use of passive dynamics and reduced measured electrical demand.
الكلمات المفتاحية
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Chen, R., Zhang, Q., Zhong, Z., Yun, Z., Or, Y., & Liu, M. (2026). Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter. https://omanscience.com/ar/articles/learning-to-exploit-passive-dynamics-for-energy-efficient-target-hopping-of-a-spring-legged-quadcopter
MLA 9
Chen, Ruigang, et al. "Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter." https://omanscience.com/ar/articles/learning-to-exploit-passive-dynamics-for-energy-efficient-target-hopping-of-a-spring-legged-quadcopter.
شيكاغو (المؤلف–التاريخ)
Chen, Ruigang, Qi Zhang, Zhicheng Zhong, Zhuorui Yun, Yizhar Or, and Mingyi Liu. 2026. "Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter." https://omanscience.com/ar/articles/learning-to-exploit-passive-dynamics-for-energy-efficient-target-hopping-of-a-spring-legged-quadcopter.
هارفارد
Chen, R., Zhang, Q., Zhong, Z., Yun, Z., Or, Y. and Liu, M. (2026) 'Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter', Available at: https://omanscience.com/ar/articles/learning-to-exploit-passive-dynamics-for-energy-efficient-target-hopping-of-a-spring-legged-quadcopter.
فانكوفر
Chen R, Zhang Q, Zhong Z, Yun Z, Or Y, Liu M. Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter. https://omanscience.com/ar/articles/learning-to-exploit-passive-dynamics-for-energy-efficient-target-hopping-of-a-spring-legged-quadcopter
IEEE
R. Chen, Q. Zhang, Z. Zhong, Z. Yun, Y. Or, and M. Liu, "Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter," https://omanscience.com/ar/articles/learning-to-exploit-passive-dynamics-for-energy-efficient-target-hopping-of-a-spring-legged-quadcopter.