ICRA 2011 Paper Abstract


Paper ThA106.2

Kossett, Alex (University of Minnesota), Papanikolopoulos, Nikos (University of Minnesota)

A Robust Miniature Robot Design for Land/Air Hybrid Locomotion

Scheduled for presentation during the Regular Sessions "Mechanism Design of Mobile Robots I" (ThA106), Thursday, May 12, 2011, 08:35−08:50, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Mechanism Design of Mobile Robots, Aerial Robotics, Wheeled Robots


The utility of miniature ground robots has long been limited by reduced locomotion capabilities compared to larger robots. Many avenues of research have been pursued to improve ground locomotion to alleviate this issue. In this paper, another option is explored in which a small ground robot is equipped with the ability to fly, allowing a primarily ground-based robot to move to previously unreachable areas if necessary. The robot design is presented with an emphasis on mechanical aspects. The design utilizes a minimalistic two-wheeled ground mode to minimize weight, and a rotary-wing flight mode with versatile flight-mode functionality to enable transformations at will. The transition between modes requires a transformation wherein the robot tips itself on-end and unfolds rotors or vise versa. The design presented herein is an improvement upon previous designs using the same concept in that it is more robust in both its transformation process and locomotion capabilities [1], [2]. In addition to a new robot design, two new principles for the design of such robot are proposed: protection of flight mode components and isolation of the two modes’ drive trains.



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