A mobile robot which is capable of both aerial and terrestrial locomotion. This hybrid machine uses the same actuators to drive both its flight as well as a surrounding cage for rolling along on the ground, quickly switching between the two methods.

The system moves on the ground efficiently and when it encounters an obstacle, it simply flies over it. Neither the mass or the system complexity is increased by inclusion o  separate actuators for terrestrial and aerial locomotion.  During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves the issue of quad-rotors and rotor-crafts; their short operation time. 

HyTAQ

The system moves on the ground efficiently and when it encounters an obstacle, it simply flies over it. Neither the mass or the system complexity is increased by inclusion o &nbsp;separate actuators for terrestrial and aerial locomotion. &nbsp;During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves the issue of quad-rotors and rotor-crafts; their short operation time.&nbsp;

The experimental  platform  isi described and the equations of motion are derived. An analysis of the robot’s power consumption is performed, and optimal inputs to maximize the robot’s range are derived. Experimental results are presented.

Modeling and Performance Assessment of the HyTAQ, a Hybrid Terrestrial/Aerial Quadrotor

The  robot’s  equations of motion are described. The equations are used to guide the robot’s design. An analysis of the energy  consumption of the robot is done for both aerial and terrestrial modes. Experimental results are given.

 Design and experimental validation of HyTAQ, a Hybrid Terrestrial and Aerial Quadrotor

Total mass

Mass quadrotor

Mass cage

Flight time

Distance in flight time

Roll time

Distance in roll time

A mobile robot which is capable of both aerial and terrestrial locomotion. This hybrid machine uses the same actuators to drive both its flight as well as a surrounding cage for rolling along on the ground, quickly switching between the two methods. 