The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 13(5).
author keywords: mobile robotics; rolling quadrotor; bi-modal vehicles; control; dynamics; flying robots; mobile robots; theoretical kinematics
TL;DR:
This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling andMultirotor flight, with experimental validation on the theoretical development of a terrestrial dynamic model and control systems.
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