This paper introduces Paraswift, a mobile robot that is able to climb an ordinary wall and deploy a paraglider for a remote controlled return to ground. The goal is entertainment and technical education through an unusual, eye-catching robot. Multiple requirements must be met - to provide a mechanism that generates strong adhesion for climbing yet is low weight for flying, to ensure a reliable transition from climbing to flying, and to handle collision forces on landing - in a single compact robot. The climbing technology is vortex adhesion with wheeled locomotion. The paraglider is folded into the robot shell on ascent and deployed at launch time using a novel mechanism based on a 2-DOF manipulator arm. Flight is remote controlled, and the robot has a protective frame of glass fiber reinforced plastic with a hard foam core to absorb collision forces on landing. This paper describes our work on the complete system, starting with the design, simulation, and physical testing of individual components, and culminating in the integration phase with successful climbing and flying on multiple walls of varying characteristics. We believe that Paraswift is the first demonstration of a compact robot that is capable of vertical climbing and passive flying.
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