# Coupled Modeling and Fusion Control for a Multi-modal Deformable Land-air Robot

arXiv: https://arxiv.org/abs/2211.04185 · HTML: https://mlsanity.com/paper/2211.04185/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Nov 2022.

## Built on by (most cited first, 1 of 1)

- [CompetEvo: Towards Morphological Evolution from Competition](https://mlsanity.com/paper/2405.18300/) (2024)

## Abstract (arXiv)

A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors, chassis, suspension, and the deformable structure. In addition, a model-based controller is designed for landing and mode switching in various unstructured conditions, such as slopes and curved surface. And considering locomotion and complex near-ground situations to achieve cooperation between the two fused modalities. This system was simulated in ADAMS/Simulink and a tested with hardware-in-the-loop system was constructed for testing in various slopes. With a designed controller, the results showed the robot is capable of fast and smooth land-air switching, with a 24.6 % faster landing on slopes. The controller can also reduce landing offset and impact force more effectively than the normal control method at 32.7 % and 34.3 %, respectively.