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| Autori principali: | , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2509.12620 |
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| _version_ | 1866909790354014208 |
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| author | Chen, Yikai Zheng, Zhi Wang, Jin He, Bingye Xu, Xiangyu Zhang, Jialu Yu, Huan Lu, Guodong |
| author_facet | Chen, Yikai Zheng, Zhi Wang, Jin He, Bingye Xu, Xiangyu Zhang, Jialu Yu, Huan Lu, Guodong |
| contents | Achieving seamless integration of aerial flight, ground driving, and wall climbing within a single robotic platform remains a major challenge, as existing designs often rely on additional adhesion actuators that increase complexity, reduce efficiency, and compromise reliability. To address these limitations, we present PerchMobi^3, a quad-fan, negative-pressure, air-ground-wall robot that implements a propulsion-adhesion power-reuse mechanism. By repurposing four ducted fans to simultaneously provide aerial thrust and negative-pressure adhesion, and integrating them with four actively driven wheels, PerchMobi^3 eliminates dedicated pumps while maintaining a lightweight and compact design. To the best of our knowledge, this is the first quad-fan prototype to demonstrate functional power reuse for multi-modal locomotion. A modeling and control framework enables coordinated operation across ground, wall, and aerial domains with fan-assisted transitions. The feasibility of the design is validated through a comprehensive set of experiments covering ground driving, payload-assisted wall climbing, aerial flight, and cross-mode transitions, demonstrating robust adaptability across locomotion scenarios. These results highlight the potential of PerchMobi^3 as a novel design paradigm for multi-modal robotic mobility, paving the way for future extensions toward autonomous and application-oriented deployment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_12620 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | PerchMobi^3: A Multi-Modal Robot with Power-Reuse Quad-Fan Mechanism for Air-Ground-Wall Locomotion Chen, Yikai Zheng, Zhi Wang, Jin He, Bingye Xu, Xiangyu Zhang, Jialu Yu, Huan Lu, Guodong Robotics Achieving seamless integration of aerial flight, ground driving, and wall climbing within a single robotic platform remains a major challenge, as existing designs often rely on additional adhesion actuators that increase complexity, reduce efficiency, and compromise reliability. To address these limitations, we present PerchMobi^3, a quad-fan, negative-pressure, air-ground-wall robot that implements a propulsion-adhesion power-reuse mechanism. By repurposing four ducted fans to simultaneously provide aerial thrust and negative-pressure adhesion, and integrating them with four actively driven wheels, PerchMobi^3 eliminates dedicated pumps while maintaining a lightweight and compact design. To the best of our knowledge, this is the first quad-fan prototype to demonstrate functional power reuse for multi-modal locomotion. A modeling and control framework enables coordinated operation across ground, wall, and aerial domains with fan-assisted transitions. The feasibility of the design is validated through a comprehensive set of experiments covering ground driving, payload-assisted wall climbing, aerial flight, and cross-mode transitions, demonstrating robust adaptability across locomotion scenarios. These results highlight the potential of PerchMobi^3 as a novel design paradigm for multi-modal robotic mobility, paving the way for future extensions toward autonomous and application-oriented deployment. |
| title | PerchMobi^3: A Multi-Modal Robot with Power-Reuse Quad-Fan Mechanism for Air-Ground-Wall Locomotion |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.12620 |