Flying STAR, a hybrid crawling and flying sprawl tuned robot

Nir Meiri, David Zarrouk

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

17 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 languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5302-5308
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - 1 May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
Country/TerritoryCanada
CityMontreal
Period20/05/1924/05/19

Keywords

  • Crawling robot
  • Flying robot
  • Mechanical design
  • Reconfigurable robot
  • Sprawl tuning

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