“…The ICAROS robot presented by Dickson and Clark [5] shows the dynamic climbing and gliding capabilities. Shin et al [6] developed a glidingwalking multimodal robot. Kovac et al [7] inspired by bats, butterflies, locusts, designed the EPFL series robots with different deployable wings which use stored energy to jump and then glide to reach their destinations.…”
The flying squirrel has a balanced amphibious ability on land and air, especially the ability to glide using their patagium, which makes it an excellent biomimetic object in the design and development of multimodal locomotion robots. This paper presents the study of aerodynamic characteristics and pitching adjusting mechanism of the flying squirrel with deployed patagium. A 3D geometric model of the flying squirrel with unfolded wing membrane was obtained using 3D scanning technique. Then a simulation analysis based on computational fluid dynamics software and a wind tunnel experiment on the animal specimen were carried out to analyze and evaluate the aerodynamic characteristics. After that, the pitching adjusting mechanism of flying squirrels during gliding was numerical simulated by establishing the pitching dynamics model. The results from above research not only enrich our understanding of gliding mechanism of flying squirrels, but also provide important biological inspiration for the design and development of multimodal robots in the future.INDEX TERMS Gliding, aerodynamic characteristics, pitching adjusting, patagium, flying squirrel, bioinspiration.
“…The ICAROS robot presented by Dickson and Clark [5] shows the dynamic climbing and gliding capabilities. Shin et al [6] developed a glidingwalking multimodal robot. Kovac et al [7] inspired by bats, butterflies, locusts, designed the EPFL series robots with different deployable wings which use stored energy to jump and then glide to reach their destinations.…”
The flying squirrel has a balanced amphibious ability on land and air, especially the ability to glide using their patagium, which makes it an excellent biomimetic object in the design and development of multimodal locomotion robots. This paper presents the study of aerodynamic characteristics and pitching adjusting mechanism of the flying squirrel with deployed patagium. A 3D geometric model of the flying squirrel with unfolded wing membrane was obtained using 3D scanning technique. Then a simulation analysis based on computational fluid dynamics software and a wind tunnel experiment on the animal specimen were carried out to analyze and evaluate the aerodynamic characteristics. After that, the pitching adjusting mechanism of flying squirrels during gliding was numerical simulated by establishing the pitching dynamics model. The results from above research not only enrich our understanding of gliding mechanism of flying squirrels, but also provide important biological inspiration for the design and development of multimodal robots in the future.INDEX TERMS Gliding, aerodynamic characteristics, pitching adjusting, patagium, flying squirrel, bioinspiration.
“…Leg based robots based on bionic principles [18], [19] have been investigated, which use mechanical legs for ground locomotion. Compared with the first two types, complex tasks such as running and skateboarding can be completed using legs.…”
In this paper, we present the dynamic model and control of DoubleBee, a novel hybrid aerial-ground vehicle consisting of two propellers mounted on tilting servo motors and two motor-driven wheels. DoubleBee exploits the high energy efficiency of a bicopter configuration in aerial mode, and enjoys the low power consumption of a two-wheel selfbalancing robot on the ground. Furthermore, the propeller thrusts act as additional control inputs on the ground, enabling a novel decoupled control scheme where the attitude of the robot is controlled using thrusts and the translational motion is realized using wheels. A prototype of DoubleBee is constructed using commercially available components. The power efficiency and the control performance of the robot are verified through comprehensive experiments. Challenging tasks in indoor and outdoor environments demonstrate the capability of DoubleBee to traverse unstructured environments, fly over and move under barriers, and climb steep and rough terrains.
“…These design schemes reserve the space for sensors and controllers, and their dual-modal locomotion can be switched without assistance. Several examples of hybrid robots [1, 5, 6, 8–10, 16, 18, 26–29] with dual-modal locomotion capabilities are shown in Fig. 1. Figure 1. Examples of some terrestrial/aerial hybrid robots.…”
Section: Introductionmentioning
confidence: 99%
“…Recently, various approaches have been proposed to design a terrestrial/aerial hybrid robot [3][4][5][6][7]. Some researchers added a flexible film to a quadruped robot to realize its flying ability, called Flying Rat [8]. Daler L designed the DALER [9], an adaptive morphological robot that achieves ground movement by rotating its wings.…”
Unmanned aerial vehicles (UAVs) possess fast-moving abilities and have been used in various tasks in the past decades. However, their performances are still restricted by insufficient endurance and confined environments. Intuitively, combining other locomotion modes with UAVs, such as diving and driving, would be an appropriate idea to improve the robot’s adaptability and solve the endurance problem. Recently, the terrestrial/aerial hybrid robots have drawn the researchers’ eyes for their outstanding performances, which can deploy flight mode to traverse insurmountable terrains and ground mode to increase endurance and realize detailed searches. Therefore, this paper developed the autonomous quadrotor tilting hybrid robot (AQT-HR) to achieve terrestrial/aerial dual-modal mobility and verified that the robot delivers high energy efficiency. The AQT-HR can achieve flying and driving through a quadrotor tilting mechanism, which can alter one single driving force into different directions. Furthermore, the dynamic models of the hybrid robot’s aerial and ground locomotion are derived and introduced into the model-feedforward PID control algorithm for improving the robot’s flying stability. Finally, we conducted some mobility tests and experiments about traversing obstacles to demonstrate that the proposed hybrid robot can realize autonomous mode switching and perform a low energy consumption in ground movement mode.
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