Control of a Multilinked Multirotor with Rolling Locomotion Ability in Terrestrial Domain

In recent years, multimodal locomotion in robotics field has been investigated intensively. Although aerial robots have three dimensional locomotion ability, its energy consumption is large and flight time is not long. To address this problem, multirotor robot platform with rolling locomotion ability in terrestrial domain was proposed. In this work, we show a thrust control method for the ground motions of such robots. Then, we introduce the implemented prototype and verify the proposed control method through experiments.