Patent ID: 11905005
Assignee: PURDUE RESEARCH FOUNDATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 10:
11. A method of operating an unmanned ground-based system, comprising:
providing on-ground motion by utilizing a plurality of propeller assemblies including i) two fixed propeller assemblies disposed on port and starboard which are coupled to a 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;
moving the unmanned ground-based system along a rectilinear vector, utilizing 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 rectilinear negative thrust vector;
interfacing with the unmanned ground-based system's environment by providing an end-effector coupled to a distal end of the boom; and
sensing contact force between the end effector and an object by a force sensor coupled to the end effector, wherein the contact force is used as a feedback signal to determine the magnitudes of positive and negative rectilinear thrust vectors that are generated by the propeller of the boom propeller assembly.