T3: Multi-modal Tailless Triple-Flapping-Wing Robot for Efficient Aerial and Terrestrial Locomotion

2025-03-02

AI Summary

To address actuator redundancy and inefficient locomotion-mode switching in multi-modal (aerial/terrestrial) flapping-wing robots, this paper introduces T3—an actuator-minimal, tailless, tri-wing flapping robot with three independently driven wings. Inspired by juvenile water striders, we propose a novel flapping-vibration energy-recycling mechanism that drives elastic passive legs for terrestrial crawling without additional motors. Combined with the tailless configuration and coordinated three-wing control, T3 achieves seamless aerial-terrestrial mode transition using the minimal number of actuators. Methodologically, we integrate bio-inspired structural design, SE(3) Lie-group-based trajectory tracking control, multibody dynamic modeling, and a real-time mode-switching algorithm. Experimental results demonstrate that T3 achieves stable hovering and efficient crawling, reduces energy consumption by 37%, accomplishes mode switching in under 0.3 s, and maintains trajectory tracking error below 2.1 cm.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Machine Learning: Bio-inspired Learning

Application Category

• Search and Retrieval-Augmented AI: Retrieval-Augmented Generation (RAG) and multi-modal RAG
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments

Abstract

Flapping-wing robots offer great versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of T3, a novel tailless flapping-wing robot with three pairs of independently actuated wings. Inspired by juvenile water striders, T3 incorporates bio-inspired elastic passive legs that effectively transmit vibrations generated during wing flapping, enabling ground movement without additional motors. This novel mechanism facilitates efficient multi-modal locomotion while minimizing actuator usage, reducing complexity, and enhancing performance. An SE(3)-based controller ensures precise trajectory tracking and seamless mode transition. To validate T3's effectiveness, we developed a fully functional prototype and conducted targeted modeling, real-world experiments, and benchmark comparisons. The results demonstrate the robot's and controller's outstanding performance, underscoring the potential of multi-modal flapping-wing technologies for future aerial-ground robotic applications.

Problem

• Achieving efficient multi-modal locomotion in flapping-wing robots.
• Designing a tailless robot with three pairs of independently actuated wings.
• Enabling ground movement using bio-inspired elastic passive legs.

Innovation

• Tailless flapping-wing robot with three wings
• Bio-inspired elastic legs for ground movement
• SE(3)-based controller for precise trajectory tracking