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Design and Prototyping of a Walking Quadrotor

[+] Author Affiliations
Arash Kalantari, Matthew Spenko

Illinois Institute of Technology, Chicago, IL

Paper No. DETC2012-71062, pp. 1067-1072; 6 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


The design and experimental prototype of a hybrid robot capable of both aerial and terrestrial locomotion is presented in this paper. A unique compliant mechanism design makes it possible to use a single actuator set for both walking and flying. This is advantageous because it reduces both the total weight of the system and the control system complexity. The basic structure is similar to a quadrotor aerial vehicle, i.e. four brushless DC motors provide the required thrust for flying. The desired leg motion is derived from two separate linear movements. Horizontal motion of the legs is achieved by driving the main actuators in reverse. A second linear actuation unit, which is set into motion by shape memory alloy (SMA) wires, enables vertical movement of the leg during terrestrial locomotion.

Copyright © 2012 by ASME
Topics: Design



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