DUAWLFIN: A Drone with Unified Actuation for Wheeled Locomotion and Flight Operation
Jerry Tang, Ruiqi Zhang, Kaan Beyduz, Yiwei Jiang, Cody Wiebe, Haoyu Zhang, Osaruese Asoro, and Mark W. Mueller
IEEE Robotics and Automation Letters, 2025
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Abstract: DUAWLFIN is a drone with unified actuation for wheeled locomotion and flight operation that achieves efficient, bidirectional ground mobility. It eliminates the need for additional actuators or propeller-driven ground propulsion by leveraging only its standard quadrotor motors and introducing a differential drivetrain with one-way bearings. This innovation simplifies the mechanical system, significantly reduces energy usage, and prevents the disturbance caused by propellers spinning near the ground, such as dust interference with sensors. We provide a detailed mechanical design, present control strategies for rapid and smooth mode transitions, and validate the concept through extensive experimental testing. Flight-mode tests confirm stable aerial performance comparable to conventional quadcopters, while ground-mode experiments demonstrate efficient slope climbing (up to 30°) and agile turning maneuvers approaching 1g lateral acceleration. The seamless transitions between aerial and ground modes further underscore the practicality and effectiveness of our approach for applications like urban logistics and indoor navigation.
(a) Aerial Mode
(b) Ground Mode
Demonstration
Experimental Test
figure8.mp4Figure8 Trajectory Tracking
gradeability.mp4Gradeability Test
Real-World Navigation
etch_nav.mp4richmond_outdoor.mp4How to make a DUAWLFIN by yourself?
All the components can be made by a commercial FDM 3-D printer or purchase online directly.
If you need the CAD assets, please check this Google Drive URL.
The complete material list is as follows:
Flight Controller: PixRacer R15
Electronic Speed Controller: SkyStars AM60 AM32 ESC
Motors: A2212 1400kv Motors
Propeller: 8045 Propellers
Appliance Wheel: 1 inch Mini Paste Swivel Appliance Wheels
Battery: 3-Cell 100C 2200mAh Lipo Battery
Other Components: made by 3D-printing (PLA basic + FDM)
Acknowledgement
This work is supported by Hong Kong Center for Logistics Robotics (HKCLR). The experimental testbed at the HiPeR Lab is the result of the contributions of many people, a full list of which can be found at HiPeR Lab Members.
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