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Robot designs can take many inspirations from nature, where there are manyexamples of highly resilient and fault-tolerant locomotion strategies tonavigate complex terrains by using multi-functional appendages. For example,Chukar and Hoatzin birds can repurpose their wings for quadrupedal walking andwing-assisted incline running (WAIR) to climb steep surfaces. We tookinspiration from nature and designed a morphing robot with multi-functionalthruster-wheel appendages that allows the robot to change its mode oflocomotion by transforming into a rover, quad-rotor, mobile inverted pendulum(MIP), and other modes. In this work, we derive a dynamic model and formulate anonlinear model predictive controller to perform WAIR to showcase the uniquecapabilities of our robot. We implemented the model and controller in anumerical simulation and experiments to show their feasibility and thecapabilities of our transforming multi-modal robot.

Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot