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DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels [IROS 2023 Best Entertainment Paper]
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Introducing Doublebee, a novel hybrid aerial-ground robot that can fly, walk, crawl, and climb steep and rough terrain. Double-Bee exploits the high energy efficiency of a bicopter configuration in aerial mode, and enjoys the low power consumption of a two-wheel self-balancing robot on the ground.
Furthermore, a novel decoupled control scheme is designed, where the attitude of the robot is controlled using thrusts, and the translational motion is realized using wheels. Challenging tasks in indoor and outdoor environments demonstrate the capability of DoubleBee to traverse unstructured environments.
Furthermore, a novel decoupled control scheme is designed, where the attitude of the robot is controlled using thrusts, and the translational motion is realized using wheels. Challenging tasks in indoor and outdoor environments demonstrate the capability of DoubleBee to traverse unstructured environments.
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