TY - GEN
T1 - Rollocopter
T2 - 2019 IEEE Aerospace Conference, AERO 2019
AU - Sabet, Sahand
AU - Agha-Mohammadi, Ali Akbar
AU - Tagliabue, Andrea
AU - Elliott, D. Sawyer
AU - Nikravesh, Parviz E.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/3
Y1 - 2019/3
N2 - In this work, we design and model a new hybrid aerial-ground mobility system concept for extreme terrains referred to as Rollocopter. The platform would uses common multi-rotor propellers enclosed in a spherical shell to produce the necessary forces to roll on the ground and fly. The proposed platform would be able to achieve (a) multi-modal locomotion (fly and roll) for increased energy efficiency, (b) collision resiliency due to its impact-resistant structure, and (c) high-level of controllability due to three-dimensional actuation. This work focuses on the preliminary design trade-offs, analysis and feasibility assessment of the platform. First, a dynamic model of the robot that considers interaction with the ground is developed. Second, a control architecture for flying and rolling is proposed and evaluated in simulation. Finally, a discussion on the energy efficiency of the flying and rolling mobility modes via leveraging a derived dynamic model of the power consumption is provided.
AB - In this work, we design and model a new hybrid aerial-ground mobility system concept for extreme terrains referred to as Rollocopter. The platform would uses common multi-rotor propellers enclosed in a spherical shell to produce the necessary forces to roll on the ground and fly. The proposed platform would be able to achieve (a) multi-modal locomotion (fly and roll) for increased energy efficiency, (b) collision resiliency due to its impact-resistant structure, and (c) high-level of controllability due to three-dimensional actuation. This work focuses on the preliminary design trade-offs, analysis and feasibility assessment of the platform. First, a dynamic model of the robot that considers interaction with the ground is developed. Second, a control architecture for flying and rolling is proposed and evaluated in simulation. Finally, a discussion on the energy efficiency of the flying and rolling mobility modes via leveraging a derived dynamic model of the power consumption is provided.
UR - http://www.scopus.com/inward/record.url?scp=85068346391&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85068346391&partnerID=8YFLogxK
U2 - 10.1109/AERO.2019.8741685
DO - 10.1109/AERO.2019.8741685
M3 - Conference contribution
AN - SCOPUS:85068346391
T3 - IEEE Aerospace Conference Proceedings
BT - 2019 IEEE Aerospace Conference, AERO 2019
PB - IEEE Computer Society
Y2 - 2 March 2019 through 9 March 2019
ER -