Bio-inspired design of an aerial-terrestrial multi-modal robot
Shin, Won Dong
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https://hdl.handle.net/2142/101242
Description
Title
Bio-inspired design of an aerial-terrestrial multi-modal robot
Author(s)
Shin, Won Dong
Issue Date
2018-04-27
Director of Research (if dissertation) or Advisor (if thesis)
Park, Hae-Won
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Robotics
Bio-inspired
Multi-modal
Abstract
This thesis is about the design and performance of a multi-modal robot capable of aerial and terrestrial locomotion. Versatile multi-modal robots are favorable for their wide range of operational environments. Although several multi-modal robotic platforms have been built, their performances in two different modes are not balanced. We took the design principles from Pteromyini, commonly known as the flying squirrel–which shows balanced performances in both aerial and terrestrial locomotion–to create a novel robotic platform. The flexible membrane and gliding method of Pteromyini have been applied to the robot design for gliding performance. The legs of the robot were designed to perform with regulated motor torques in both walking and gliding. The robot glided with an average gliding ratio of 1.88 and controlled its angle-of-attack for slowing down to land safely. The robot walked utilizing different gait patterns and could change its direction with its high degrees-of-freedom legs while walking. These results demonstrated the robot's balanced multi-modal locomotion and feasibility of clearing complex obstacles.
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