期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 4, 页码 6188-6195出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3077851
关键词
Flying robot; driving robot; climbing robot; mechanical design; reconfigurable robot; sprawl tuning
类别
资金
- Pearlstone Center for Aeronautical Studies
- Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative at Ben-Gurion University
- Marcus Endowment Fund at Ben-Gurion University
This letter presents a hybrid flying and climbing robot named FCSTAR. The robot is equipped with a sprawling mechanism and propellers for climbing over slopes and running and flying using the same motors. By using thrust reversal and 4-wheel drive, the robot can overcome steep slopes and reach high places.
This letter presents a hybrid flying and climbing robot which we named FCSTAR. This new robot, an upgraded version of FSTAR, is designed for climbing over slopes and is fitted with a sprawling mechanism and propellers that allow it to both run and fly using the same motors. By using thrust reversal and its 4-wheel drive, the robot can drive over steep slopes including walls and reach high places where it cannot fly, such as pipes, sewage channels, ventilation ducts, etc. The combined capabilities of flying, running and climbing allows the FCSTAR to fly over, crawl underneath or climb over obstacles. We first describe the design of the robot and the configuration of the propulsion and flying systems, including the design considerations for its improved climbing capabilities. We then present a model of climbing and analytically compare the different modes of operation to define the optimal design configuration. Finally, we present multiple experiments that we performed using our newly developed design of the FCSTAR robot. The results show that this experimental robot can drive on inclined surfaces and even climb on vertical walls. It can reach ground speeds of up to 3.2 m/s, and fly like a regular quadcopter (see attached video).
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