project specification

HyTAQ

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.

Specifications

Total mass570 g
Mass quadrotor450 g
Mass cage120 g
Flight time5 m
Distance in flight time600 m
Roll time27 m
Distance in roll time2400 m

Overview

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. 



References

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.

Arash Kalantari, Matthew Spenko. - October 2014. (Paywall)

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.

Arash Kalantari, Matthew Spenko. - 2013 IEEE International Conference on Robotics and Automation. (Paywall)

Wevolver 2022