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Humanoids are versatile robotic platforms because of their limbs withmultiple degrees of freedom. Although humanoids can walk like humans, the speedis relatively slow, and they cannot run over large barriers. To address theseproblems, we aim to achieve rapid terrestrial locomotion ability andsimultaneously expand the domain of locomotion to the air by utilizing thrustfor propulsion. In this paper, we first describe an optimized constructionmethod of a humanoid robot equipped with wheels and a flight unit to achievethese abilities. Then, we describe the integrated control framework of theproposed flying humanoid for each mode of locomotion: aerial locomotion, leglocomotion, and wheel locomotion. Finally, we achieved multimodal locomotionand aerial manipulation experiments using the robot platform proposed in thiswork. To the best of our knowledge, it is the first time to achieve threedifferent types of locomotion, including flight, by a single humanoid.

Design and Control of a Humanoid Equipped with Flight Unit and Wheels for Multimodal Locomotion