Flying STAR, a Hybrid Crawling and Flying Sprawl Tuned Robot
Flying STAR, a Hybrid Crawling and Flying Sprawl Tuned Robot
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Flying STAR，一种混合爬行和飞行伸展调谐机器人
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
David Zarrouk
中科院分区：
文献类型：
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作者：
Nir Meiri;David Zarrouk
介绍了一种可重构的混合飞行四轴机器人飞行星星（F星星）。F星星是星星机器人家族中最新的一款，它配备了一个庞大的机械装置和螺旋桨，使它能够使用相同的马达运行和飞行。运行和飞行的综合能力允许FSTAR飞越障碍物或在障碍物下方运行并在管道内移动。机器人可以减少其宽度，在接触地面的同时在狭窄的空间或障碍物下爬行。我们首先描述了机器人的设计和配置的车轮和螺旋桨在飞行和运行模式。然后，我们展示了我们用于实验的FSTAR机器人的3D打印原型。我们评估机器人的能量需求和它可以产生的力。实验机器人可以像普通的四轴飞行器一样飞行，但也可以以高达2.6米/秒的速度在地面上运行，以节省能源（见视频）。
This paper presents Flying STAR (FSTAR) a reconfigurable hybrid flying quadcopter robot. FSTAR is the latest in the family of the STAR robots fitted with a sprawling mechanism and propellers allowing it to both run and fly using the same motors. The combined capabilities of running and flying allows FSTAR to fly over obstacles or run underneath them and move inside pipes. The robot can reduce its width to crawl in confined spaces or underneath obstacles while touching the ground. We first describe the design of the robot and the configuration of the wheels and propellers in the flying and running modes. Then we present the 3D printed prototype of the FSTAR robot which we used for our experiments. We evaluate the energy requirements of the robot and the forces it can generate. The experimental robot can fly like an ordinary quadcopter but can also run on the ground at a speed of up to 2.6 m/s to save energy (see video).