  A miniature robotic blimp, as one type of lighter-than-air aerial vehicle,
has attracted increasing attention in the science and engineering field for its
long flight duration and safe aerial locomotion. While a variety of miniature
robotic blimps have been developed over the past decade, most of them utilize
the buoyant lift and neglect the aerodynamic lift in their design, thus leading
to a mediocre aerodynamic performance. This letter proposes a new design of
miniature robotic blimp that combines desirable features of both a robotic
blimp and a fixed-wing glider, named the Robotic Gliding Blimp, or RGBlimp.
This robot, equipped with an envelope filled with helium and a pair of wings,
uses an internal moving mass and a pair of propellers for its locomotion
control. This letter presents the design, dynamic modeling, prototyping, and
system identification of the RGBlimp. To the best of the authors' knowledge,
this is the first effort to systematically design and develop such a miniature
robotic blimp with hybrid lifts and moving mass control. Experimental results
are presented to validate the design and the dynamic model of the RGBlimp.
Analysis of the RGBlimp aerodynamics is conducted which confirms the
performance improvement of the proposed RGBlimp in aerodynamic efficiency and
flight stability.
