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This paper introduces Paraswift, a mobile robot tha t is able to climb an ordinary wall and deploy a paraglider for a remote controlled return to ground. The goal is entertainment and technical education through an unusual, eye-cat ching robot. Multiple requirements must be met ‐ to provide a mechanism that generates strong adhesion for climbing yet is low weight for flying, to ensure a reliable transit ion from climbing to flying, and to handle collision forces on landing ‐ in a single co mpact robot. The climbing technology is vortex adhesion with wheeled locomotion. The paraglider is folded into the robot shell on ascent and deployed at launch time using a novel mechanism based on a 2-DOF manipulator arm. Flight is remote controlled, and t he robot has a protective frame of glass fiber reinforced plastic with a hard foam core to a bsorb collision forces on landing. This paper describes our work on the complete system, st arting with the design, simulation, and physical testing of individual components, and culminating in the integration phase with successful climbing and flying on multiple wal ls of varying characteristics. We believe that Paraswift is the first demonstration o f a compact robot that is capable of vertical climbing and passive flying. |
