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机器人
推力
四轴飞行器
推进
模拟
机制(生物学)
机器人运动
工程类
计算机科学
移动机器人
海洋工程
航空航天工程
人工智能
机器人控制
结构工程
物理
量子力学
作者
Nitzan Ben David,David Zarrouk
出处
期刊:IEEE robotics and automation letters
日期:2021-10-01
卷期号:6 (4): 6188-6195
被引量:23
标识
DOI:10.1109/lra.2021.3077851
摘要
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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