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arXiv · 2503.00805

Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion

Zhi Zheng·Xiangyu Xu·Jin Wang·Yikai Chen·Jingyang Huang·Ruixin Wu·Huan Yu·Guodong Lu
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Abstract

Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three independently actuated pairs of wings. Inspired by the leg morphology of juvenile water striders, the robot incorporates bio-inspired elastic passive legs that convert flapping-induced vibrations into directional ground movement, enabling locomotion without additional actuators. This vibration-driven mechanism facilitates lightweight, mechanically simplified multi-modal mobility. An SE(3)-based controller coordinates flight and mode transitions with minimal actuation. To validate the robot's feasibility, a functional prototype was developed, and experiments were conducted to evaluate its flight, ground locomotion, and mode-switching capabilities. Results show satisfactory performance under constrained actuation, highlighting the potential of multi-modal flapping-wing designs for future aerial-ground robotic applications. These findings provide a foundation for future studies on frequency-based terrestrial control and passive yaw stabilization in hybrid locomotion systems.

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Zhi Zheng, Xiangyu Xu, Jin Wang, Yikai Chen, Jingyang Huang, Ruixin Wu, Huan Yu, Guodong Lu. 2025-03-02. Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion. https://doi.org/10.1109/lra.2025.3580324

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