Flybbit: Design and Control of a Novel Rabbit-like Flying Robot

摘要

In this paper, we present the design and control of a novel aerial vehicle inspired by the biomechanics of a rabbit named “Flybbit”. Flybbit consists of two main components, namely a movable “Ears” part and a rigid “Body” part, forming a composite flying system with five controllable degrees of freedom (DOFs). The “Ears” part is equipped with two tiltable motors paired with optional-sized propellers, enabling additional thrust generation and flight stability maintenance, and the “Body” part incorporates four fixed motors, analogous to a rabbit’s limbs, to provide the primary propulsion. To fully exploit the actuation capability, we derive the system dynamics and introduce a dynamic control allocation method with an adaptive strategy to mitigate actuator saturation during complex combined maneuvers. Furthermore, we analyze the differential flatness property and develop a nonlinear inverse dynamics controller enhanced with hybrid external wrench estimation, enabling accurate trajectory tracking in five DOFs. Flybbit supports both manual operation via RC and autonomous flight via onboard computation. Comprehensive simulations and real-world experiments validate the proposed design and control framework.