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Development of an Aerial Robot That Has Multifunctional Locomotion Modes with Tilted Coaxial Rotors

Nowadays, drones have been highly paid attention to applications in many fields, such as air transport of goods, information gathering when a disaster occurred, aerial photographing, pesticide spraying, and so on. However, since a conventional drone is difficult to maintain a stable flight in the vicinity of buildings, the application to special proximity inspections such as wall surface and bridge surface is restricted. Also, all of the rotors in conventional drones are fixed to the airframe, so that any attitude change of the aircraft occurs when it flies all around. Therefore, we propose a multifunctional aerial robot with tilted coaxial rotors, which can keep the airframe so as not to be tilted in flying mode, and is also capable of traveling omni-directionally both on the ground and wall so as to be applied to a special vicinity inspection, where the robot has four passive casters and two-tilted coaxial rotors.