|Distance in flight time||600||m|
|Distance in roll time||2400||m|
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.
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.
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.