The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more degrees of freedom than a standard quadrotor. While there is active research of over-actuated, omnidirectional MAVs and aerial manipulators as well as VTOL and hybrid platforms, the two concepts have not been combined. We address the problem of conceptualization, characterization, control, and testing of a 5DOF rotary-/fixed-wing hybrid, tilt-rotor, split tilt-wing, nearly omnidirectional aerial robot. We present an elegant solution with a minimal set of actuators and that does not need any classical control surfaces or flaps. The concept is validated in a wind tunnel study and in multiple flights with forward and backward transitions. Fixed-wing flight speeds up to 10 m/s were reached, with a power reduction of 30% as compared to rotary wing flight.

翻译：与物理对象接触并用飞行机器人进行操作的能力能够实现许多新颖的应用，例如接触检测、喷涂、钻孔和样本采集。通常，这类空中机器人需要比标准四旋翼飞行器更多的自由度。尽管目前对过驱动、全向MAV及空中机械手，以及VTOL与混合平台的研究十分活跃，但这两种概念尚未被结合起来。我们针对一种5自由度旋翼/固定翼混合、倾转旋翼、分体倾转机翼、近全向空中机器人的概念设计、特性分析、控制与测试问题进行研究。我们提出了一种优雅的解决方案，采用最少的执行器，并且无需任何传统控制面或襟翼。该概念通过风洞研究以及多次包含前向与后向过渡的飞行实验得到了验证。固定翼飞行速度可达10米/秒，与旋翼飞行相比功耗降低了30%。