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| Auteurs principaux: | , , , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2503.00805 |
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| _version_ | 1866912436798357504 |
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| author | Zheng, Zhi Xu, Xiangyu Wang, Jin Chen, Yikai Huang, Jingyang Wu, Ruixin Yu, Huan Lu, Guodong |
| author_facet | Zheng, Zhi Xu, Xiangyu Wang, Jin Chen, Yikai Huang, Jingyang Wu, Ruixin Yu, Huan Lu, Guodong |
| contents | Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three independently actuated pairs of wings. Inspired by the leg morphology of juvenile water striders, the robot incorporates bio-inspired elastic passive legs that convert flapping-induced vibrations into directional ground movement, enabling locomotion without additional actuators. This vibration-driven mechanism facilitates lightweight, mechanically simplified multi-modal mobility. An SE(3)-based controller coordinates flight and mode transitions with minimal actuation. To validate the robot's feasibility, a functional prototype was developed, and experiments were conducted to evaluate its flight, ground locomotion, and mode-switching capabilities. Results show satisfactory performance under constrained actuation, highlighting the potential of multi-modal flapping-wing designs for future aerial-ground robotic applications. These findings provide a foundation for future studies on frequency-based terrestrial control and passive yaw stabilization in hybrid locomotion systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_00805 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion Zheng, Zhi Xu, Xiangyu Wang, Jin Chen, Yikai Huang, Jingyang Wu, Ruixin Yu, Huan Lu, Guodong Robotics Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three independently actuated pairs of wings. Inspired by the leg morphology of juvenile water striders, the robot incorporates bio-inspired elastic passive legs that convert flapping-induced vibrations into directional ground movement, enabling locomotion without additional actuators. This vibration-driven mechanism facilitates lightweight, mechanically simplified multi-modal mobility. An SE(3)-based controller coordinates flight and mode transitions with minimal actuation. To validate the robot's feasibility, a functional prototype was developed, and experiments were conducted to evaluate its flight, ground locomotion, and mode-switching capabilities. Results show satisfactory performance under constrained actuation, highlighting the potential of multi-modal flapping-wing designs for future aerial-ground robotic applications. These findings provide a foundation for future studies on frequency-based terrestrial control and passive yaw stabilization in hybrid locomotion systems. |
| title | Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.00805 |