Multi-Modal Mobility Morphobot (M4) with appendage repurposing | ResearchBunny

Index

Abstract

This paper introduces the Multi-Modal Mobility Morphobot (M4), a robot designed to navigate unstructured, multi-substrate environments by repurposing its appendages as wheels, thrusters, and legs. M4 can fly, roll, crawl, crouch, balance, tumble, scout, and locomanipulate, traversing steep slopes and rough terrains. The design and control of M4, including optimization-based control and path planning algorithms, are presented along with experimental results showcasing its multi-modal capabilities and scalability.

Publisher

Nature Communications

Published On

Jun 27, 2023

Authors

Eric Sihite, Arash Kalantari, Reza Nemovi, Alireza Ramezani, Morteza Gharib

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