Suggestion of Legged Air Vehicle for Locomotion on Ground and in Air

摘要

Various animals and insects have ability to locomote and work under multiple environments, such as ground, water and air. We have proposed a legged air vehicle that can move on the ground and in the air, similar to such insects. As a first step, we have shown a basic concept, composition and feasibility of the robot based on lift generated from thrusters and the weight of its parts. In particular, the suggested robot controls the flight attitude by changing its center of gravity using the movement of the legs. In this paper, we have also shown computational results regarding changes in the center of gravity.