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Article: A Hybrid Quadrotor With a Passively Reconfigurable Wheeled Leg Capable of Robust Terrestrial Maneuvers

TitleA Hybrid Quadrotor With a Passively Reconfigurable Wheeled Leg Capable of Robust Terrestrial Maneuvers
Authors
Yu, SizePu, BingxuanDong, KaixuBai, SongnanChirarattananon, Pakpong
KeywordsAerial systems: applications
aerial systems: mechanics and control
wheeled robots
Issue Date2025
Citation
IEEE Robotics and Automation Letters, 2025, v. 10, n. 4, p. 3486-3493 How to Cite?
DOI: http://dx.doi.org/10.1109/LRA.2025.3544078
AbstractWe present a hybrid aerial-ground robot that combines the versatility of a quadcopter with enhanced terrestrial mobility. The vehicle features a passive, reconfigurable single wheeled leg, enabling seamless transitions between flight and two ground modes: a stable stance and a dynamic cruising configuration. The cruising mode exhibits exceptional turning performance, achieving a centrifugal acceleration of 0.55g, over 30% higher than previous records, due to an inherent yaw stabilization effect. This mechanism also reduces control effort and enhances roll stability, enabling reliable navigation on irregular surfaces. While this passive design achieves structural simplicity, it trades off power efficiency for enhanced maneuverability. We provide a comprehensive analysis of the system's dynamics and experimentally demonstrate agile movements across various scenarios.
Persistent Identifierhttp://hdl.handle.net/10722/355986
ISI Accession Number ID
WOS:001438178400006

 

DC FieldValueLanguage
dc.contributor.authorYu, Size-
dc.contributor.authorPu, Bingxuan-
dc.contributor.authorDong, Kaixu-
dc.contributor.authorBai, Songnan-
dc.contributor.authorChirarattananon, Pakpong-
dc.date.accessioned2025-05-19T05:47:06Z-
dc.date.available2025-05-19T05:47:06Z-
dc.date.issued2025-
dc.identifier.citationIEEE Robotics and Automation Letters, 2025, v. 10, n. 4, p. 3486-3493-
dc.identifier.urihttp://hdl.handle.net/10722/355986-
dc.description.abstractWe present a hybrid aerial-ground robot that combines the versatility of a quadcopter with enhanced terrestrial mobility. The vehicle features a passive, reconfigurable single wheeled leg, enabling seamless transitions between flight and two ground modes: a stable stance and a dynamic cruising configuration. The cruising mode exhibits exceptional turning performance, achieving a centrifugal acceleration of 0.55g, over 30% higher than previous records, due to an inherent yaw stabilization effect. This mechanism also reduces control effort and enhances roll stability, enabling reliable navigation on irregular surfaces. While this passive design achieves structural simplicity, it trades off power efficiency for enhanced maneuverability. We provide a comprehensive analysis of the system's dynamics and experimentally demonstrate agile movements across various scenarios.-
dc.languageeng-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.subjectAerial systems: applications-
dc.subjectaerial systems: mechanics and control-
dc.subjectwheeled robots-
dc.titleA Hybrid Quadrotor With a Passively Reconfigurable Wheeled Leg Capable of Robust Terrestrial Maneuvers-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/LRA.2025.3544078-
dc.identifier.scopuseid_2-s2.0-86000382998-
dc.identifier.volume10-
dc.identifier.issue4-
dc.identifier.spage3486-
dc.identifier.epage3493-
dc.identifier.eissn2377-3766-
dc.identifier.isiWOS:001438178400006-

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