A sensor platform capable of aerial and terrestrial locomotion

被引：9

作者：

Boria, FJ ^{[1
]}

Bachmann, RJ ^{[1
]}

Ifju, PG ^{[1
]}

Quinn, RD ^{[1
]}

Vaidyanathan, R ^{[1
]}

Perry, C ^{[1
]}

Wagener, J ^{[1
]}

机构：

[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA

来源：

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年

关键词：

multi-mode mobility; micro air vehicle; Mini-Whegs (TM); morphing; reconnaissance;

D O I：

10.1109/IROS.2005.1545597

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A sensor platform has been developed that is capable of both aerial and terrestrial locomotion, as well as transitioning between the two. The Morphing Micro Air-Land Vehicle (MMALV) implements biological inspiration in both flying and walking. MMALV integrates the University of Florida's Micro Air Vehicle (MAV) technology with the terrain mobility of Mini-Whegs (TM). Fabricated of lightweight carbon fiber, the UF-MAV employs a flexible wing design to achieve improved stability over other MAVs of similar size. Mini-Whegs (TM) employs the patented (pending) wheel-leg running gear that makes the Whegs (TM) and Mini-Whegs (TM) tine of robots fast, agile, and efficient. MMALV has a 30.5cm wingspan, and is 25.4cm long. Terrestrial locomotion is achieved using two independently controlled wheel-legs, which are differentially actuated to perform turning. The vehicle successfully performs the transition from flight to walking. Furthermore, MMALV is capable of transitioning from terrestrial to aerial locomotion by walking off a structure of only 20 feet. A wing retraction mechanism improves the portability of the vehicle, as well as its terrestrial stealth and ability to enter small openings.

引用

页码：4024 / 4029

页数：6

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