Vehicle Type Flying Robot with Spherical Shell Rotor Mechanism
Yusuke Sakai, Kenjiro Tadakuma, Yoshito Okada, Carl John O. Salaan, Kazunori Ohno, Satoshı Tadokoro · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2018
There are many proposals of propeller protection mechanisms and wheel mechanisms for multi-copter which running and flying by propeller thrust. In addition to being capable of normal flight, the propeller guard can be used as a passive wheel to allow traveling on the ground, walls, ceiling, etc. As a characteristic required for such a propeller protection and wheel mechanism, narrow place applicability, propeller protection property, omnidirectional mobility, etc. But there have not been proposed mechanism that satisfy all these requirements.