Numerous mobile robots in various forms specialize in either ground or aerial locomotion, whereas very few robots can perform complex locomotion tasks beyond simple walking and flying. We present the design and control of a multimodal locomotion robotic platform called LEONARDO, which bridges the gap between two different locomotion regimes of flying and walking using synchronized control of distributed electric thrusters and a pair of multijoint legs. By combining two distinct locomotion mechanisms, LEONARDO achieves complex maneuvers that require delicate balancing, such as walking on a slackline and skateboarding, which are challenging for existing bipedal robots. LEONARDO also demonstrates agile walking motions, interlaced with flying maneuvers to overcome obstacles using synchronized control of propellers and leg joints. The mechanical design and synchronized control strategy achieve a unique multimodal locomotion capability that could potentially enable robotic missions and operations that would be difficult for single-modal locomotion robots.

中文翻译：

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可以飞行、松线和滑板的双足步行机器人

许多不同形式的移动机器人专门从事地面或空中运动，而很少有机器人可以执行除了简单的步行和飞行之外的复杂运动任务。我们展示了一个名为 LEONARDO 的多模式运动机器人平台的设计和控制，该平台使用分布式电动推进器和一对多关节腿的同步控制弥合了飞行和行走两种不同运动方式之间的差距。通过结合两种不同的运动机制，LEONARDO 实现了需要精细平衡的复杂动作，例如在松弛线上行走和滑板，这对于现有的双足机器人来说是具有挑战性的。LEONARDO 还展示了灵活的步行动作，与飞行动作交织在一起，通过螺旋桨和腿关节的同步控制来克服障碍。