From Sky to Soil: A Morphing Aerial-Ground Robot for Seed Deployment

2026-09-29

AI Summary

This study addresses the challenge of precisely controlling seed burial depth in aerial seeding by proposing a tri-modal deformable robot capable of flight, terrestrial locomotion, and controlled seed embedding. The core innovation lies in repurposing the flight propulsion motors to drive the drilling mechanism, thereby eliminating actuator redundancy. By integrating electronically coupled dual motors, foldable wheel-arms, and a gear transmission system, the robot achieves seamless air-to-ground mode transitions through geometry-assisted reconfiguration. Hardware prototypes validate its capabilities in ground repositioning and depth-controlled seed planting. This work establishes a technical foundation for precision ecological deployment leveraging actuator reuse and coordinated morphological reconfiguration.

Abstract

Aerial seed broadcasting can reach remote restoration sites, but provides limited control over seed placement within the soil. This paper presents a geometry-assisted, tri-functional morphing robot that combines aerial access, ground locomotion, and controlled-depth seed embedding in a fly-drive-plant architecture. After landing, the platform reconfigures into a four-wheeled planting configuration: an electronically coupled dual-motor drive folds the rear arms outward to form ground wheels, while a descending front tray engages the propulsion motors with a drill gear train. Reusing the propulsion motors for drilling eliminates a dedicated drill drive. The planting sequence forms a hole, dispenses a seed, and allows the vehicle to reposition on the ground or return to its flight configuration. Ground mobility supports repeated planting without requiring a separate flight between adjacent sites. A companion controller issues reconfiguration, tray, and seed-gate commands, while a dedicated autopilot handles flight control. The morphing and planting mechanisms are validated using a hardware prototype that demonstrates ground repositioning and seed embedding. This proof of concept establishes a hardware basis for aerial-ground seed embedding through coordinated reconfiguration and actuator reuse.

Problem

• aerial seed broadcasting
• seed placement
• morphing robot
• seed embedding
• ecological restoration

Innovation

• morphing robot
• aerial-ground locomotion
• actuator reuse
• seed deployment
• reconfigurable mechanism