More than meets the eye: A hybrid-locomotion robot with rotary flight and wheel modes

Kossett, Alex; Purvey, Jesse; Papanikolopoulos, Nikolaos

doi:10.1109/iros.2009.5354632

Cited by 10 publications

(4 citation statements)

References 5 publications

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“…In 2009, the Hybird Land-Air Robot, researched by the University of Minnesota, folded the rotor of the vehicle in the ground state with the area between the two wheels, driven by ground motors. When flying, the robot stood up and unfolded to form a co-axial twin-rotor helicopter [2][3][4]. In 2013, the HyTAQ Robot was proposed by the Robotics Laboratory of the Illinois Institute of Technology.…”

Section: Related Workmentioning

confidence: 99%

Land–Air–Wall Cross-Domain Robot Based on Gecko Landing Bionic Behavior: System Design, Modeling, and Experiment

et al. 2022

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Based on the bionic behavior of geckos, this paper presents a land–air–wall cross-domain robot which can fly in air, run on the ground, and adhere to various wall surfaces. When geckos jump and adsorb to vertical surfaces such as trunks, they can still adsorb to the wall with a large contact speed. Inspired by this phenomenon, we analyze the mechanism, apply it to our robot, and optimize the design of the robot structure. In addition, geckos use their tails to adjust posture to achieve abdominal landing during the process of falling. Inspired by this phenomenon, based on the rotor lift/power curve, we optimize the center of gravity by controlling the servo angle. The initial center of gravity offset of the robot is estimated by the extended state observer. The method reduces the distance between the center of gravity and the geometric center, balances the load of each propeller, and finally reduces the total power. The experiment and simulation results validate the feasibility of the land–air–wall cross-domain robot and the bionic methods.

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Section: Related Workmentioning

confidence: 99%

Land–Air–Wall Cross-Domain Robot Based on Gecko Landing Bionic Behavior: System Design, Modeling, and Experiment

et al. 2022

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“…A robot developed by Kossett et al in 2009 with flight and wheeled locomotion capability, using propeller for flight motion, is one of the first among this category [14]. This offered the best characteristics of both helicopters and terrain vehicles.…”

Section: Related Workmentioning

confidence: 99%

Kinematic Design, Analysis and Simulation of a Hybrid Robot with Terrain and Aerial Locomotion Capability

Sreevishnu

Koshy

Krishnan

2018

MATEC Web of Conferences

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Abstract. Having only one type of locomotion mechanism limits the stability and locomotion capability of a mobile robot on irregular terrain surfaces. One of the possible solution to this is combining more than one locomotion mechanisms in the robot. In this paper, robotic platform composed of a quadruped module for terrain locomotion and quadrotor module for aerial locomotion is introduced. This design is inspired by the way which birds are using their wings and legs for stability in slopped and uneven surfaces. The main idea is to combine the two systems in such a way that the strengths of both subsystems are used, and the weakness of the either systems are covered. The ability of the robot to reach the target position quickly and to avoid large terrestrial obstacles by flying expands its application in various areas of search and rescue. The same platform can be used for detailed 3D mapping and aerial mapping which are very helpful in rescue operations. In particular, this paper presents kinematic design, analysis and simulation of such a robotic system. Simulation and verification of results are done using MATLAB.

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“…Table I shows the exterior dimensions and masses of the original design and of the revised design. More on the original design can be found in [12].…”

Section: B Summary Of the Original Designmentioning

confidence: 99%

Design of an improved land/air miniature robot

Kossett

D'Sa

Purvey

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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Small ground robots remain limited in their locomotion capabilities, often prevented from accessing areas restricted by tall obstacles or rough terrain. This paper presents the improved design of a hybrid-locomotion robot made to address this issue. It uses wheels for ground travel and rotarywing flight for scaling obstacles and flying over rough terrain.The robot's initial design suffered from a number of issues that prevented it from functioning fully, such as overheating motors, inadequate control electronics, and insufficient landing gear. Several improvements have been made to the robot's design to correct these problems.These obstacles, and the solutions implemented in the improved design, have enabled several design principles to be formulated for miniature hybrid-locomotion robots. It is found that hybrid-locomotion vehicles utilizing rotary-wing flight are most useful when the design is optimized for ground mode performance. Collapsibility is necessary in such vehicles to reduce the impact of the helicopter rotor on the size of the ground mode. Finally, since a large number of actions are necessary to propel and transform the robot, integrating multiple functions into each mechanism can reduce the mass of the robot.

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More than meets the eye: A hybrid-locomotion robot with rotary flight and wheel modes

Cited by 10 publications

References 5 publications

Land–Air–Wall Cross-Domain Robot Based on Gecko Landing Bionic Behavior: System Design, Modeling, and Experiment

Land–Air–Wall Cross-Domain Robot Based on Gecko Landing Bionic Behavior: System Design, Modeling, and Experiment

Kinematic Design, Analysis and Simulation of a Hybrid Robot with Terrain and Aerial Locomotion Capability

Design of an improved land/air miniature robot

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