2024
DOI: 10.3390/act13060215
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Motion Control of a Hybrid Quadruped-Quadrotor Robot

Wenjuan Ouyang,
Haozhen Chi,
Leifeng Lu
et al.

Abstract: Multimodal motion capability is an emerging topic in the robotics field, and this paper presents a hybrid robot system maneuvering in both terrestrial and aerial environments. Firstly, a micro quadruped–quadrotor robot with onboard sensing and computing is developed. This robot incorporates both the high mobility of unmanned aerial vehicles and the long endurance of mobile robots on the ground. A coordinated motion control scheme is then exploited for adaptive terrestrial–aerial motion transition. In this sche… Show more

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