Abstract
This paper describe the air-ground use flying robot. This flying robot consists of spherical outer frames, coaxial rotors, rudders and a body system. Its weight is 1311 [g], its diameter is 400[mm], and its maximum thrust is 1950[gf]. The outer frame structure can reduce collision force when the robot lands and be used to drive on the ground. The flying robot has ultrasonic distance sensor and inertial measurement unit sensor (IMU) to measure its height and attitude. Its yaw angle is controlled by using two rotors, and pitch and roll angle are controlled by using rudders. Through a hovering experiment, the effectiveness of the mechanism was verified.
