A Rotor Flywheel Robot: Land-air Amphibious Design and Control

Chunzheng Wang; Yunyi Zhang; Chuanzhao Li; Wei Wang; Yangmin Li

doi:10.1109/IROS55552.2023.10341371

A Rotor Flywheel Robot: Land-air Amphibious Design and Control

Chunzheng Wang, Yunyi Zhang, Chuanzhao Li, Wei Wang, Yangmin Li

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

2 Citations (Scopus)

Abstract

Most land-air amphibious UAVs feature a four-wheel design that limits their adaptability in narrow and uneven spaces. This study proposes the rotor flywheel as a new land-air design that integrates a one-wheel structure and eight-rotor wings for more flexible motion. The dynamics model is then conducted with the Kane method, finding two power-saving self-balance state while rolling. Its controller design highlights the multi-input decoupling approach utilizing feedback, along with the dynamic model-based component to enable efficient control of its intricate operations. Results of simulations and experimental tests have validated the stability and adaptability of the mode-switching and rolling of the robot in ground motion.

Original language	English
Title of host publication	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4341-4346
Number of pages	6
ISBN (Electronic)	9781665491907
DOIs	https://doi.org/10.1109/IROS55552.2023.10341371
Publication status	Published - Oct 2023
Event	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 - Detroit, United States Duration: 1 Oct 2023 → 5 Oct 2023

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Country/Territory	United States
City	Detroit
Period	1/10/23 → 5/10/23

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

More information

10.1109/IROS55552.2023.10341371

Cite this

Wang, C., Zhang, Y., Li, C., Wang, W., & Li, Y. (2023). A Rotor Flywheel Robot: Land-air Amphibious Design and Control. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 (pp. 4341-4346). (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS55552.2023.10341371

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abstract = "Most land-air amphibious UAVs feature a four-wheel design that limits their adaptability in narrow and uneven spaces. This study proposes the rotor flywheel as a new land-air design that integrates a one-wheel structure and eight-rotor wings for more flexible motion. The dynamics model is then conducted with the Kane method, finding two power-saving self-balance state while rolling. Its controller design highlights the multi-input decoupling approach utilizing feedback, along with the dynamic model-based component to enable efficient control of its intricate operations. Results of simulations and experimental tests have validated the stability and adaptability of the mode-switching and rolling of the robot in ground motion.",

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Wang, C, Zhang, Y, Li, C, Wang, W & Li, Y 2023, A Rotor Flywheel Robot: Land-air Amphibious Design and Control. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 4341-4346, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, United States, 1/10/23. https://doi.org/10.1109/IROS55552.2023.10341371

A Rotor Flywheel Robot: Land-air Amphibious Design and Control. / Wang, Chunzheng; Zhang, Yunyi; Li, Chuanzhao et al.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 4341-4346 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - Most land-air amphibious UAVs feature a four-wheel design that limits their adaptability in narrow and uneven spaces. This study proposes the rotor flywheel as a new land-air design that integrates a one-wheel structure and eight-rotor wings for more flexible motion. The dynamics model is then conducted with the Kane method, finding two power-saving self-balance state while rolling. Its controller design highlights the multi-input decoupling approach utilizing feedback, along with the dynamic model-based component to enable efficient control of its intricate operations. Results of simulations and experimental tests have validated the stability and adaptability of the mode-switching and rolling of the robot in ground motion.

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A Rotor Flywheel Robot: Land-air Amphibious Design and Control

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