{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/101242"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/101242","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Bio-inspired design of an aerial-terrestrial multi-modal robot","abstract":"This thesis is about the design and performance of a multi-modal robot capable of aerial and terrestrial locomotion. Versatile multi-modal robots are favorable for their wide range of operational environments. Although several multi-modal robotic platforms have been built, their performances in two different modes are not balanced. We took the design principles from Pteromyini, commonly known as the flying squirrel–which shows balanced performances in both aerial and terrestrial locomotion–to create a novel robotic platform. The flexible membrane and gliding method of Pteromyini have been applied to the robot design for gliding performance. The legs of the robot were designed to perform with regulated motor torques in both walking and gliding. The robot glided with an average gliding ratio of 1.88 and controlled its angle-of-attack for slowing down to land safely. The robot walked utilizing different gait patterns and could change its direction with its high degrees-of-freedom legs while walking. These results demonstrated the robot's balanced multi-modal locomotion and feasibility of clearing complex obstacles.","abstract_html":"This thesis is about the design and performance of a multi-modal robot capable of aerial and terrestrial locomotion. Versatile multi-modal robots are favorable for their wide range of operational environments. Although several multi-modal robotic platforms have been built, their performances in two different modes are not balanced. We took the design principles from Pteromyini, commonly known as the flying squirrel–which shows balanced performances in both aerial and terrestrial locomotion–to create a novel robotic platform. The flexible membrane and gliding method of Pteromyini have been applied to the robot design for gliding performance. The legs of the robot were designed to perform with regulated motor torques in both walking and gliding. The robot glided with an average gliding ratio of 1.88 and controlled its angle-of-attack for slowing down to land safely. The robot walked utilizing different gait patterns and could change its direction with its high degrees-of-freedom legs while walking. These results demonstrated the robot's balanced multi-modal locomotion and feasibility of clearing complex obstacles.","abstract_has_math":false,"creators":["Shin, Won Dong"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Park, Hae-Won"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2018,"date_issued":"2018-09-04T20:42:01Z","date_published":"2018-09-04T20:42:01Z","updated_at":"2026-07-22T22:24:38Z","subjects":["Robotics","Bio-inspired","Multi-modal"],"languages":["en"],"rights":["Copyright 2018 Won Dong Shin"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/101242","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Park, Hae-Won"]},{"key":"dc:creator","label":"Author","values":["Shin, Won Dong"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2018-09-04T20:42:01Z","2020-09-05T09:15:16Z","2018-04-27","2018-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics","Bio-inspired","Multi-modal"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2018 Won Dong Shin"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/101242"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis is about the design and performance of a multi-modal robot capable of aerial and terrestrial locomotion. Versatile multi-modal robots are favorable for their wide range of operational environments. Although several multi-modal robotic platforms have been built, their performances in two different modes are not balanced. We took the design principles from Pteromyini, commonly known as the flying squirrel–which shows balanced performances in both aerial and terrestrial locomotion–to create a novel robotic platform. The flexible membrane and gliding method of Pteromyini have been applied to the robot design for gliding performance. The legs of the robot were designed to perform with regulated motor torques in both walking and gliding. The robot glided with an average gliding ratio of 1.88 and controlled its angle-of-attack for slowing down to land safely. The robot walked utilizing different gait patterns and could change its direction with its high degrees-of-freedom legs while walking. These results demonstrated the robot's balanced multi-modal locomotion and feasibility of clearing complex obstacles.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2020-05-01","The student, Won Dong Shin, accepted the attached license on 2018-04-27 at 09:39.","The student, Won Dong Shin, submitted this Thesis for approval on 2018-04-27 at 09:50.","This Thesis was approved for publication on 2018-04-27 at 11:55.","DSpace SAF Submission Ingestion Package generated from Vireo submission #12533 on 2018-08-31 at 17:21:46","Made available in DSpace on 2018-09-04T20:42:01Z (GMT). No. of bitstreams: 2 SHIN-THESIS-2018.pdf: 18637580 bytes, checksum: 85568c2854a8dce902da8ae77cd17433 (MD5) LICENSE.txt: 4210 bytes, checksum: 7df41882879e1dae69a5540e6dab9764 (MD5) Previous issue date: 2018-04-27","Embargo set by: Seth Robbins for item 107327 Lift date: 2020-09-04T20:42:08Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","U of I Only Restriction Lifted for Item 107327 on 2020-09-05T09:15:16Z."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Bio-inspired design of an aerial-terrestrial multi-modal robot"]}]}],"canonical_facts":{"dc:contributor":["Park, Hae-Won"],"dc:creator":["Shin, Won Dong"],"dc:date":["2018-09-04T20:42:01Z","2020-09-05T09:15:16Z","2018-04-27","2018-05"],"dc:description":["This thesis is about the design and performance of a multi-modal robot capable of aerial and terrestrial locomotion. Versatile multi-modal robots are favorable for their wide range of operational environments. Although several multi-modal robotic platforms have been built, their performances in two different modes are not balanced. We took the design principles from Pteromyini, commonly known as the flying squirrel–which shows balanced performances in both aerial and terrestrial locomotion–to create a novel robotic platform. The flexible membrane and gliding method of Pteromyini have been applied to the robot design for gliding performance. The legs of the robot were designed to perform with regulated motor torques in both walking and gliding. The robot glided with an average gliding ratio of 1.88 and controlled its angle-of-attack for slowing down to land safely. The robot walked utilizing different gait patterns and could change its direction with its high degrees-of-freedom legs while walking. These results demonstrated the robot's balanced multi-modal locomotion and feasibility of clearing complex obstacles.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2020-05-01","The student, Won Dong Shin, accepted the attached license on 2018-04-27 at 09:39.","The student, Won Dong Shin, submitted this Thesis for approval on 2018-04-27 at 09:50.","This Thesis was approved for publication on 2018-04-27 at 11:55.","DSpace SAF Submission Ingestion Package generated from Vireo submission #12533 on 2018-08-31 at 17:21:46","Made available in DSpace on 2018-09-04T20:42:01Z (GMT). No. of bitstreams: 2 SHIN-THESIS-2018.pdf: 18637580 bytes, checksum: 85568c2854a8dce902da8ae77cd17433 (MD5) LICENSE.txt: 4210 bytes, checksum: 7df41882879e1dae69a5540e6dab9764 (MD5) Previous issue date: 2018-04-27","Embargo set by: Seth Robbins for item 107327 Lift date: 2020-09-04T20:42:08Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","U of I Only Restriction Lifted for Item 107327 on 2020-09-05T09:15:16Z."],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/2142/101242"],"dc:language":["en"],"dc:rights":["Copyright 2018 Won Dong Shin"],"dc:subject":["Robotics","Bio-inspired","Multi-modal"],"dc:title":["Bio-inspired design of an aerial-terrestrial multi-modal robot"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:24:38Z"}