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Animals, such as birds, widely use multi-modal locomotion by combining leggedand aerial mobility with dominant inertial effects. The robotic biomimicry ofthis multi-modal locomotion feat can yield ultra-flexible systems in terms oftheir ability to negotiate their task spaces. The main objective of this paperis to discuss the challenges in achieving multi-modal locomotion, and to reportour progress in developing our quadrupedal robot capable of multi-modallocomotion (legged and aerial locomotion), the Husky Carbon. We report themechanical and electrical components utilized in our robot, in addition to thesimulation and experimentation done to achieve our goal in developing aversatile multi-modal robotic platform.

A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform