Systems and methods are provided for a wall rolling unmanned aerial vehicle (UAV). A method is provided for rolling the UAV along a path on the surface of the wall. The method includes determining a trajectory for the UAV, determining motor inputs for the UAV, and operating the motors to roll and translate the UAV according to the trajectory along the path. A cage can be provided around the UAV to support contact between the UAV and the wall.

A flying machine frame structural body including: a frame that surrounds a flying machine body including a rotating blade, and to which the flying machine body is fixed; and plural wheels that are rotatably supported by the frame.

A method for improving ground movement capability and enhancing stealth in unmanned aerial vehicles is provided. The present method comprises providing, in an unmanned aerial vehicle equipped with wheels, one or more onboard drive means capable of translating torque through the vehicle wheels and controllable to move the unmanned aerial vehicle on the ground without reliance on the unmanned aerial vehicle main motive power source. The onboard drive means is controllably powered by a power source with substantially no acoustic signature to move the unmanned aerial vehicle quietly on the ground with only a minimal audible or visible footprint. This method provides a significant expansion of ground movement capability and expands the potential ground uses of unmanned aerial vehicles, particularly in military applications. The present method can also be applied to move any manned aerial vehicle or aircraft on the ground with only minimal audible or visible footprints.

In some embodiments, a multi-modal robot can be capable of aerial mobility and ground mobility, and can switch between configuration. The multi-modal robot can include a chassis, and a leg attached to the chassis. The leg can include a frontal hip joint. The frontal hip joint can rotate around a frontal hip axis of rotation. The frontal hip axis of rotation can be parallel to a longitudinal axis of the chassis. The leg can further include a sagittal hip joint, wherein the sagittal hip joint is coupled to the first distal end of a first link. The sagittal hip joint can rotate around a sagittal hip axis of rotation. The leg can include a wheel. The wheel can be configured to rotate around a wheel axis of rotation. The leg can further include a propeller. The propeller can be co-axial with the wheel.

In some embodiments, a multi-modal robot can be capable of aerial mobility and ground mobility, and can switch between configuration. The multi-modal robot can include a chassis, and a leg attached to the chassis. The leg can include a frontal hip joint. The frontal hip joint can rotate around a frontal hip axis of rotation. The frontal hip axis of rotation can be parallel to a longitudinal axis of the chassis. The leg can further include a sagittal hip joint, wherein the sagittal hip joint is coupled to the first distal end of a first link. The sagittal hip joint can rotate around a sagittal hip axis of rotation. The leg can include a wheel. The wheel can be configured to rotate around a wheel axis of rotation. The leg can further include a propeller. The propeller can be co-axial with the wheel.

The present disclosure relates to a reconfigurable battery system and method of operating the same. An example apparatus includes at least one memory, instructions in the apparatus, and processor circuitry to execute the instructions to determine a state of charge of a battery, determine a closed circuit voltage of the battery, determine a value of a parameter based on a ratio of the state of charge and the closed circuit voltage, and control a switch coupled to the battery based on the value of the parameter, the controlling of the switch to either cause the battery to be coupled to a battery string or cause the battery to be disconnected from the battery string.

A quadrotor is proposed than can both fly and roll. The proposed robot employs passively reconfigurable structures to enable the rolling, tightly coupling the attitude of the robot to the rolling cage. The benefits are precise rolling and turning control as well as improved rolling efficiency. The passively reconfigurable structures are enabled by pre-stretched elastic springs to generate a nonlinear restoring torque. The robot leveraged the superior maneuverability in the rolling mode to take photos of the surroundings at different tilting and panning angles to construct a panoramic image. Besides, the results of the power measurements show a significant reduction in the cost of transport brought by at low speed, equating to a 15-fold extension in the operational range.

A quadrotor is proposed than can both fly and roll. The proposed robot employs passively reconfigurable structures to enable the rolling, tightly coupling the attitude of the robot to the rolling cage. The benefits are precise rolling and turning control as well as improved rolling efficiency. The passively reconfigurable structures are enabled by pre-stretched elastic springs to generate a nonlinear restoring torque. The robot leveraged the superior maneuverability in the rolling mode to take photos of the surroundings at different tilting and panning angles to construct a panoramic image. Besides, the results of the power measurements show a significant reduction in the cost of transport brought by at low speed, equating to a 15-fold extension in the operational range.

A quadrotor is proposed than can both fly and roll. The proposed robot employs passively reconfigurable structures to enable the rolling, tightly coupling the attitude of the robot to the rolling cage. The benefits are precise rolling and turning control as well as improved rolling efficiency. The passively reconfigurable structures are enabled by pre-stretched elastic springs to generate a nonlinear restoring torque. The robot leveraged the superior maneuverability in the rolling mode to take photos of the surroundings at different tilting and panning angles to construct a panoramic image. Besides, the results of the power measurements show a significant reduction in the cost of transport brought by at low speed, equating to a 15-fold extension in the operational range.

A quadrotor is proposed than can both fly and roll. The proposed robot employs passively reconfigurable structures to enable the rolling, tightly coupling the attitude of the robot to the rolling cage. The benefits are precise rolling and turning control as well as improved rolling efficiency. The passively reconfigurable structures are enabled by pre-stretched elastic springs to generate a nonlinear restoring torque. The robot leveraged the superior maneuverability in the rolling mode to take photos of the surroundings at different tilting and panning angles to construct a panoramic image. Besides, the results of the power measurements show a significant reduction in the cost of transport brought by at low speed, equating to a 15-fold extension in the operational range.