Nature abounds with examples of superior mobility through the fusion of aerial and ground movement. Drawing inspiration from such multimodal locomotion, we introduce a high-performance hybrid hopping and flying robot. The proposed robot seamlessly integrates a nano quadcopter with a passive telescopic leg, overcoming limitations of previous jumping mechanisms that rely on stance phase leg actuation. Based on the identified dynamics, a thrust-based control method and detachable active aerodynamic surfaces were devised for the robot to perform continuous jumps with and without position feedback. This unique design and actuation strategy enable tuning of jump height and reduced stance phase duration, leading to agile hopping locomotion. The robot recorded an average vertical hopping speed of 2.38 meters per second at a jump height of 1.63 meters. By harnessing multimodal locomotion, the robot is capable of intermittent midflight jumps that result in substantial instantaneous accelerations and rapid changes in flight direction, offering enhanced agility and versatility in complex environments. The passive leg design holds potential for direct integration with conventional rotorcraft, unlocking seamless hybrid hopping and flying locomotion.

中文翻译：

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具有协同混合运动的敏捷单足跳跃四轴飞行器


自然界中充满了通过空中和地面运动融合实现卓越机动性的例子。从这种多模式运动中汲取灵感，我们推出了一种高性能混合跳跃和飞行机器人。所提出的机器人将纳米四轴飞行器与被动伸缩腿无缝集成，克服了以前依赖站立阶段腿驱动的跳跃机制的局限性。根据确定的动力学，设计了基于推力的控制方法和可拆卸的主动空气动力表面，使机器人能够在有或没有位置反馈的情况下执行连续跳跃。这种独特的设计和驱动策略可以调整跳跃高度并缩短站立阶段持续时间，从而实现敏捷的跳跃运动。该机器人记录的平均垂直跳跃速度为每秒2.38米，跳跃高度为1.63米。通过利用多模式运动，机器人能够进行间歇性的飞行中跳跃，从而产生巨大的瞬时加速度和飞行方向的快速变化，从而在复杂环境中提供增强的敏捷性和多功能性。被动腿设计具有与传统旋翼机直接集成的潜力，解锁无缝混合跳跃和飞行运动。