{"paper":{"title":"Tilt-Ropter: A Fully Actuated Hybrid Aerial-Terrestrial Vehicle with Tilt Rotors and Passive Wheels","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ben M. Chen, Ruoyu Wang, Wendi Ding, Xuchen Liu, Zixuan Guo, Zongzhou Wu","submitted_at":"2026-02-02T06:15:33Z","abstract_excerpt":"In this work, we present Tilt-Ropter, a fully actuated hybrid aerial-terrestrial vehicle (HATV) that integrates tilt rotors with passive wheels to enable efficient multi-modal locomotion. Unlike conventional underactuated HATVs, the fully actuated design of Tilt-Ropter allows decoupled force and torque control, improving maneuverability and ground locomotion efficiency. A unified nonlinear model predictive controller (NMPC) is developed to track reference trajectories, enforce non-holonomic constraints, and accommodate contact effects across locomotion modes, while ensuring actuator feasibilit"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.01700","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2602.01700/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}