A Bionic Hybrid Terrestrial–Aeria Spherical Robot: Dynamic Modeling

Inspired by biological mechanisms observed in armadillos and pachnoda marginata, this paper proposes a bionic hybrid terrestrial–aeria spherical robot capable of transitions between aerial flight and terrestrial rolling. Traditional UAVs face limitations in endurance and terrain adaptability, while ground vehicles struggle to traverse complex terrain. To address these challenges, the proposed system integrates a universal joint structure, using propeller thrust as the sole power source to enable dual - mode locomotion. A simplified dynamic model is derived under the Newton - Euler framework, incorporating pure rolling constraints and generalized coordinate transformations to reduce system degrees of freedom. Further, a complete dynamic model with universal joints is established, accounting for multi - body interactions and the variations of rotational axes. Simulation experiments on the MuJoCo platform validate the model’s feasibility. Future work will focus on controller design and mode - switching optimization to enhance robustness and operational flexibility.