A Miniature Vehicle with Extended Aerial and Terrestrial Mobility

摘要: This chapter describes the design, fabrication, and field testing of a small robot (30.5 cm wingspan 30.5 length) capable motion in both aerial terrestrial mediums. The micro-air–land vehicle (MALV) implements abstracted biological inspiration flying walking mechanisms for locomotion transition between modes operation. propeller-driven employs an undercambered, chord-wise compliant wing to achieve improved stability over rigid-wing micro-air vehicles (MAVs) similar size. Flight maneuverability is provided through elevator rudder control. MALV lands walks on ground using animal-inspired passively wheel-leg running gear that enables crawl climb, including surmounting obstacles larger than its own height. Turning accomplished differential activation wheel-legs. successfully performs from flight able by propeller thrust smooth horizontal surface or off vertical higher 6 m. Fabricated lightweight carbon fiber ~100 g flying, landing, crawling with payload exceeding 20% mass. To our knowledge first successful at this scale be real-world terrains transitions two.