This letter presents a hybrid flying and climbing robot which we named FCSTAR. This new robot, an upgraded version of FSTAR, is designed for climbing over slopes and is fitted with a sprawling mechanism and propellers that allow it to both run and fly using the same motors. By using thrust reversal and its 4-wheel drive, the robot can drive over steep slopes including walls and reach high places where it cannot fly, such as pipes, sewage channels, ventilation ducts, etc. The combined capabilities of flying, running and climbing allows the FCSTAR to fly over, crawl underneath or climb over obstacles. We first describe the design of the robot and the configuration of the propulsion and flying systems, including the design considerations for its improved climbing capabilities. We then present a model of climbing and analytically compare the different modes of operation to define the optimal design configuration. Finally, we present multiple experiments that we performed using our newly developed design of the FCSTAR robot. The results show that this experimental robot can drive on inclined surfaces and even climb on vertical walls. It can reach ground speeds of up to 3.2 m/s, and fly like a regular quadcopter (see attached video).

中文翻译：

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飞行爬升混合型伸展调谐机器人 FCSTAR 的设计与分析


这封信介绍了一种混合飞行和攀爬机器人，我们将其命名为 FCSTAR。这款新型机器人是 FSTAR 的升级版，专为攀爬斜坡而设计，并配备了伸展机构和螺旋桨，使其能够使用相同的电机运行和飞行。通过推力反向和四轮驱动，机器人可以越过包括墙壁在内的陡坡，到达无法飞行的高处，如管道、污水管道、通风管道等。集飞行、奔跑和攀爬于一体允许 FCSTAR 飞越、爬行或爬过障碍物。我们首先描述机器人的设计以及推进和飞行系统的配置，包括其改进的攀爬能力的设计考虑。然后，我们提出一个攀爬模型，并分析比较不同的操作模式，以确定最佳设计配置。最后，我们展示了使用我们新开发的 FCSTAR 机器人设计进行的多项实验。结果表明，该实验机器人可以在倾斜表面上行驶，甚至可以在垂直墙壁上攀爬。它的地面速度可达 3.2 m/s，并且像普通四轴飞行器一样飞行（参见随附的视频）。