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energy-efficient locomotion 1hybrid aerial-terrestrial vehicle 1nonlinear model predictive control 1passive wheels 1tilt rotors 1

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cs.RO2026

Tilt-Ropter: A Fully Actuated Hybrid Aerial-Terrestrial Vehicle with Tilt Rotors and Passive Wheels

Ruoyu Wang, Xuchen Liu, Zongzhou Wu +3

The paper introduces Tilt-Ropter, a fully actuated hybrid aerial‑terrestrial robot that combines tilt rotors with passive wheels and uses a unified nonlinear model predictive contr…