Design and Control of a Ground-Aerial Dual Actuator Monocopter (G-ADAM)

Abstract

The monocopter’s distinctive single-wing design, which mimics an autorotating samara seed, has sparked substantial interest in expanding its versatility for various applications. In this regards, the Ground-Aerial Dual Actuator Monocopter (G-ADAM) – a hybrid multi-modal monocopter capable of transforming from flying to ground movement, and vice versa – addresses the latest trend of transformable robots that can operate in diverse environments. With only two actuators, G-ADAM can promptly transition between ground mode and aerial mode in just approximately 3 seconds. The motor used for the aerial mode is also utilized as propulsion for the ground mode, while the steering mechanism, controlled by a servo through physical linkages, provides control over the direction of the motor thrust in ground mode. A closed-loop control with manual tuning is applied to enable autonomous operation and position control during aerial and ground missions. Overall, G-ADAM successfully demonstrates the capability to operate and transition between ground and aerial modes.