Flying STAR, a hybrid crawling and flying sprawl tuned robot

Nir Meiri; David Zarrouk

doi:10.1109/ICRA.2019.8794260

Flying STAR, a hybrid crawling and flying sprawl tuned robot

Nir Meiri, David Zarrouk

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

18 Scopus citations

Abstract

This paper presents Flying STAR (FSTAR) a reconfigurable hybrid flying quadcopter robot. FSTAR is the latest in the family of the STAR robots fitted with a sprawling mechanism and propellers allowing it to both run and fly using the same motors. The combined capabilities of running and flying allows FSTAR to fly over obstacles or run underneath them and move inside pipes. The robot can reduce its width to crawl in confined spaces or underneath obstacles while touching the ground. We first describe the design of the robot and the configuration of the wheels and propellers in the flying and running modes. Then we present the 3D printed prototype of the FSTAR robot which we used for our experiments. We evaluate the energy requirements of the robot and the forces it can generate. The experimental robot can fly like an ordinary quadcopter but can also run on the ground at a speed of up to 2.6 m/s to save energy (see video).

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5302-5308
Number of pages	7
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8794260
State	Published - 1 May 2019
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2019-May
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

Keywords

Crawling robot
Flying robot
Mechanical design
Reconfigurable robot
Sprawl tuning

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2019.8794260

Cite this

Meiri, N., & Zarrouk, D. (2019). Flying STAR, a hybrid crawling and flying sprawl tuned robot. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 5302-5308). [8794260] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794260

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title = "Flying STAR, a hybrid crawling and flying sprawl tuned robot",

abstract = "This paper presents Flying STAR (FSTAR) a reconfigurable hybrid flying quadcopter robot. FSTAR is the latest in the family of the STAR robots fitted with a sprawling mechanism and propellers allowing it to both run and fly using the same motors. The combined capabilities of running and flying allows FSTAR to fly over obstacles or run underneath them and move inside pipes. The robot can reduce its width to crawl in confined spaces or underneath obstacles while touching the ground. We first describe the design of the robot and the configuration of the wheels and propellers in the flying and running modes. Then we present the 3D printed prototype of the FSTAR robot which we used for our experiments. We evaluate the energy requirements of the robot and the forces it can generate. The experimental robot can fly like an ordinary quadcopter but can also run on the ground at a speed of up to 2.6 m/s to save energy (see video).",

keywords = "Crawling robot, Flying robot, Mechanical design, Reconfigurable robot, Sprawl tuning",

author = "Nir Meiri and David Zarrouk",

note = "Funding Information: ACKNOWLEDGMENTS This study was supported in part by the Pearlstone center for aeronautical studies and by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative, and by the Marcus Endowment Fund, both at Ben-Gurion University of the Negev. Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

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Meiri, N & Zarrouk, D 2019, Flying STAR, a hybrid crawling and flying sprawl tuned robot. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8794260, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 5302-5308, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8794260

Flying STAR, a hybrid crawling and flying sprawl tuned robot. / Meiri, Nir; Zarrouk, David.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 5302-5308 8794260 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N1 - Funding Information: ACKNOWLEDGMENTS This study was supported in part by the Pearlstone center for aeronautical studies and by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative, and by the Marcus Endowment Fund, both at Ben-Gurion University of the Negev. Publisher Copyright: © 2019 IEEE.

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N2 - This paper presents Flying STAR (FSTAR) a reconfigurable hybrid flying quadcopter robot. FSTAR is the latest in the family of the STAR robots fitted with a sprawling mechanism and propellers allowing it to both run and fly using the same motors. The combined capabilities of running and flying allows FSTAR to fly over obstacles or run underneath them and move inside pipes. The robot can reduce its width to crawl in confined spaces or underneath obstacles while touching the ground. We first describe the design of the robot and the configuration of the wheels and propellers in the flying and running modes. Then we present the 3D printed prototype of the FSTAR robot which we used for our experiments. We evaluate the energy requirements of the robot and the forces it can generate. The experimental robot can fly like an ordinary quadcopter but can also run on the ground at a speed of up to 2.6 m/s to save energy (see video).

AB - This paper presents Flying STAR (FSTAR) a reconfigurable hybrid flying quadcopter robot. FSTAR is the latest in the family of the STAR robots fitted with a sprawling mechanism and propellers allowing it to both run and fly using the same motors. The combined capabilities of running and flying allows FSTAR to fly over obstacles or run underneath them and move inside pipes. The robot can reduce its width to crawl in confined spaces or underneath obstacles while touching the ground. We first describe the design of the robot and the configuration of the wheels and propellers in the flying and running modes. Then we present the 3D printed prototype of the FSTAR robot which we used for our experiments. We evaluate the energy requirements of the robot and the forces it can generate. The experimental robot can fly like an ordinary quadcopter but can also run on the ground at a speed of up to 2.6 m/s to save energy (see video).

KW - Crawling robot

KW - Flying robot

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Y2 - 20 May 2019 through 24 May 2019

ER -

Flying STAR, a hybrid crawling and flying sprawl tuned robot

Abstract

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Keywords

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