Sensor Platform Capable of Aerial and Terrestrial Locomotion

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Sensor Platform Capable of Aerial and Terrestrial Locomotion

F. J. Boria / R. J. Bachmann / P. G. Ifju / R. D. Quinn / R. Vaidyanathan

A sensor platform has been developed that is capable of both aerial and terrestrial locomotion, as well as transitioning between the two. The Morphing Micro Air-Land Vehicle (MMALV) implements biological inspiration in both flying and walking. MMALV integrates the University of Florida's Micro Air Vehicle (MAV) technology with the terrain mobility of Mini- Whegs(Trademark). Fabricated of lightweight carbon fiber, the UFMAV employs a flexible wing design to achieve improved stability over other MAVs of similar size. Mini- Whegs(Trademark) employs the patented (pending) wheel-leg running gear that makes the Whegs(Trademark) and Mini-Whegs(Trademark) line of robots fast, agile, and efficient. MMALV has a 30.5cm wingspan, and is 25.4cm long. Terrestrial locomotion is achieved using two independently controlled wheel-legs, which are differentially actuated to perform turning. The vehicle successfully performs the transition from flight to walking. Furthermore, MMALV is capable of transitioning from terrestrial to aerial locomotion by walking off a structure of only 20 feet. A wing retraction mechanism improves the portability of the vehicle, as well as its terrestrial stealth and ability to enter small openings.