Abstract
This paper introduces a novel robot designed to exhibit two distinct modes of mobility: rotational aerial flight and terrestrial locomotion. This versatile robot comprises a sturdy external frame, two motors, and a single wing embodying its fuselage. The robust frame not only facilitates mobility but also makes the robot collision-tolerant in both modes, enhancing its resilience in challenging environments. The robot is capable of vertical takeoff and landing in mono-wing flight mode, with the unique ability to fly in both clockwise and counterclockwise directions, setting it apart from traditional mono-wings. While relying on just two actuators, the robot seamlessly transitions to ground locomotion mode, utilizing its frame to facilitate rolling motion on the ground. The unique design ensures that the robot avoids any unrecoverable states, making it exceptionally robust and reliable in diverse operational scenarios. The robot demonstrates the capability to perform controlled ascents and descents on inclined surfaces with gradients of up to 15 degrees. The integration of ground rolling mode significantly enhances operational efficiency. The paper provides a comprehensive overview of the robot's design, dynamic model and functionality, along with experimental results for waypoint tracking in both aerial flight and terrestrial locomotion, its turning ability on various surfaces, the bi-directional transition, power consumption, and an example application outdoors. The combination of minimal actuators enabling different modes of mobility and robustness against unrecoverable states highlights the distinct capabilities and reliability of this platform.