关键词：DASH+Wings；BOLT；仿生扑翼飞行机器人；有腿机器人；有翼机器人；混合天线；SLIP模型
摘 要：This dissertation presents the development of DASH+Wings and BOLT, two small hybrid legged and winged robots.DASH+Wings is a six-legged, two-winged robot capable of wing-assisted terrestrial running and controlled aerial descent. BOLT is a two-legged, four-winged robot capable of high-speed terrestrial running and sustained flight. While the dynamics of legged locomotion have been extensively studied, the interaction between legs and flapping wings during terrestrial locomotion is poorly understood. WingSLIP, an extension to the canonical SLIP model for understanding wing-assisted terrestrial locomotion, is introduced. Analysis of the leg/wing phasing and leg stiffnesses elucidates the interaction between the legs and wings. The model suggests the presence of passively stable gaits for high-speed wing-assisted terrestrial running. The dynamics of wing-assisted terrestrial locomotion for aquasi-static and dynamic gait are examined using BOLT with the addition of an on-board accelerometer and rate gyroscope.