文档介绍：Mechanism and Machine Theory 44 (2009) 513–526
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Mechanism and Machine Theory
journal homepage: ate/mechmt
A biologically inspired micro-vehicle capable of aerial and
terrestrial otion q
Richard J. Bachmann a, Frank J. Boria b, Ravi Vaidyanathan c,d,*, Peter G. Ifju b, Roger D. Quinn e
a BioRobots, LLC Cleveland, 3030 E. 63rd St., Suite 313, Cleveland, OH 44127, USA
b University of Florida, Mechanical and Aerospace Engineering, 231 MAE-A, Gainesville, FL 32611-6250, USA
c University of Bristol, Mechanical Engineering, Queens Building, University Walk, Bristol BS8 1TH, United Kingdom
d Naval Postgraduate School, Systems Engineering, Monterey, CA 93943, USA
e Case Western Reserve University, Mechanical and Aerospace Engineering, 10900 Euclid Ave., Cleveland, OH 44106-7222, USA
article info abstract
Article history: This paper reports the design, fabrication, and field testing of a small ( cm wingspan)
Received 4 November 2007 robot capable of aerial and terrestrial otion. The micro air-land vehicle (MALV) flies
Received in revised form 27 August 2008 using a chord-wise, undercambered, bat-pliant wing and walks over rough terrain
Accepted 28 August 2008
using pliant wheel-leg running gear. MALV essfully performs transitions
Available online 8 October 2008
from flight to walking and in some situations, from walking to flight. The lightweight
(100 g) carbon fiber vehicle can fly, land, and crawl with a sensor payload exceeding
20% its own mass.
Keywords:
Ó 2008 Elsevier Ltd. All rights reserved.
Micro air vehicles
Crawling robots
Multi-modal mobility
Micro robots
Biologically inspired robotics
1. Introduction
Advances in fabrication, sensors, electronics, and power storage have made possible the development of a wide range of
small robotic vehicles capable of either aerial or terrestrial otion. Furthermore, insights into animal otion prin-
ciples and mechanisms have significantly improved the