CPC B64C 29/0025 (2013.01) [G05D 1/101 (2013.01); G05D 1/102 (2013.01); B64D 47/08 (2013.01); B64U 30/20 (2023.01); B64U 50/13 (2023.01); B64U 2101/00 (2023.01); B64U 2201/10 (2023.01)] | 20 Claims |
1. An unmanned ground-based system, comprising:
a chassis;
a plurality of wheels coupled to the chassis and configured to allow the chassis to move about a surface;
a plurality of propeller assemblies configured to provide on-ground motion, the plurality of propeller assemblies each having a propeller include i) two fixed propeller assemblies disposed on port and starboard which are coupled to the chassis and ii) a tail fan, wherein the tail fan configured to apply forces to thereby generate yaw control to enable smooth on ground motion;
a boom having a form of an elongated shaft extending from the chassis and having a boom propeller assembly with a boom propeller disposed on a plane generally perpendicular to the propellers of the fixed propeller assemblies, configured to independently and selectively provide positive and negative rectilinear thrust vectors; and
an end-effector coupled to a distal end of the boom, the end-effector having a force sensor configured to provide contact force between the end-effector and an object, wherein the contact force is used as a feedback signal to determine magnitudes of the positive and negative rectilinear thrust vectors that are generated by the propeller of the boom propeller assembly.
|