[EDITOR'S NOTE: This topic has been posted in a previous blog. Here's the link http://diydrones.com/profiles/blogs/walking-quadrotor-aerial-vehicle]
Hi everybody,
This is one of the toys I have designed lately as a part of my graduate project.
I have submitted it to Boca Bearing innovation contest, if you liked it, please vote for it here:
http://www.bocabearings.com/innovation-contest/ContestantDetails.aspx?ProjectID=45
This is a hybrid robot capable of both aerial and terrestrial locomotion. A unique complimentary mechanical design makes it possible to use a single actuator set for both walking and flying. This is advantageous because it reduces both the total weight of the system and the control system complexity. The basic structure is similar to a quadrotor aerial vehicle, i.e. four brushless DC motors provide the required thrust for flying. The desired leg motion is derived from two separate linear movements. Horizontal motion of the leg is achieved by driving the main actuators in reverse. A second linear actuation unit, which is set into motion by shape memory alloy (SMA) wires, enables vertical movement of the leg during terrestrial locomotion.
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