Contact Dynamics Modeling and Control During the Combination Process of Air-Ground Robots

In recent years, there has been a surge of interest in air-ground collaborative robotics technologies. Our research group designs a novel combination-separation air-ground robot (CSAGR), which exhibits rapid automatic combination and separation capabilities. During the combination process, contact effects between robots, as well as between robots and the environment, are unavoidable. Therefore, it is essential to conduct detailed and accurate modeling and analysis of the collision impact intensity and transmission pathways within the robotic system to ensure the successful execution of the combination procedure. This paper addresses the intricate surface geometries and multi-point contact challenges present in the contact regions of dual robots by making appropriate modifications to the traditional continuous contact force model and applying equivalent processing techniques. The validity of the developed model is confirmed through comparisons with results obtained from finite element analysis (FEA), which demonstrates its high fidelity. Additionally, the impact of this model on control performance is analyzed within the flight control system, thereby further ensuring the successful completion of the combination process. This research represents a pioneering application and validation of continuous contact theory in the dynamics of collisions within dual robot systems.