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http://worldcat.org/entity/work/id/867750033

Autonomous Micro Hopping Rotochute

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  • "The micro hopping rotochute is a hybrid micro air/ground vehicle configuration invented specifically for long duration exploration of enclosed and tight spaces with complex terrain. The vehicle maneuvers through intricate environments by hopping over or around impeding obstacles. A small, dual rotor system provides the necessary lift while differential torque allows directional control. In addition, the low mass center and spherical exterior shape of the body creates a means to passively reorient the vehicle to an upright attitude when in contact with the ground while protecting the rotating components. Previous research associated with this vehicle configuration has included detailed flight dynamic modeling and system simulation along with an experimental testing program to verify basic flight and ground performance. While basic flight dynamic behavior of this configuration has been studied, research to date has not included autonomous control. This report details two major improvements in the hopping rotochute hybrid air and ground vehicle. The vehicle has been miniaturized by cutting the size and weight by about 1/3."

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  • "Autonomous Micro Hopping Rotochute"

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