Traditional skid or wheeled landing gears fall short in meeting the rigorous requirements of challenging surfaces, such as rugged terrain and swaying deck, which restraints the application in extreme tasks including disaster rescue, cargo transportation as well as ship-relevant operations. This letter proposes a novel legged landing gear scheme for the unmanned helicopter in dealing with terrain irregularity by fully leveraging the antagonistic mechanism of cables to effectively reduce the power demand of indispensable actuators. The tailored control framework combining the whole body control (WBC) and the contact force optimization is developed for the legged landing gear to ameliorate internal force conflicts amongst individual legs at the landing stage. Experiments on an unmanned helicopter prototype are conducted to demonstrate the effectiveness of the legged landing gear in achieving stable slope landing and fuselage posture adjusting, enhancing the adaptation of the unmanned helicopter in unstructured environments.

中文翻译：

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对抗式缆索驱动腿式起落架无人直升机自主着陆全身控制

传统的滑橇或轮式起落架无法满足崎岖地形和摇摆甲板等具有挑战性的表面的严格要求，这限制了其在灾难救援、货物运输以及船舶相关作业等极端任务中的应用。本文提出了一种新型的无人直升机应对地形不规则的腿式起落架方案，充分利用缆索的对抗机制，有效降低不可或缺的执行器的功率需求。为腿起落架开发了结合全身控制（WBC）和接触力优化的定制控制框架，以改善着陆阶段各个腿之间的内力冲突。在无人直升机样机上进行实验，验证腿式起落架在实现稳定坡面着陆和机身姿态调整方面的有效性，增强无人直升机在非结构化环境中的适应能力。