2021
Crawl and Fly: A Bio-Inspired Robot Utilizing Unified Actuation for Hybrid Aerial-Terrestrial Locomotion
RA-L 2021
This letter details the design and validation of a legged terrestrial locomotion system integrated onto a hummingbird-scale flapping wing robot. Two pairs of legs powered by the flight actuators allow forward, reverse, and steering motions while on the ground. Through controlled sinusoidal drive sig