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To address the limitations of mobile robots in obstacle avoidance and the challenges faced by unmanned aerial vehicles in harsh weather and confined environments, this paper proposes a novel multi-modal aircraft based on morphological adaptation. The robot adopts a wheel-propeller coaxial drive architecture and a multi-degree-of-freedom hip joint system, enabling efficient switching among three motion modes: low-altitude flight, wall climbing, and ground driving mode. This design resolves the issues of component redundancy and excessive weight in traditional designs. To ensure that the robot maintains stability without slipping or tipping over during slope navigation, this study conducts static equilibrium analysis. The control system employs an STM32 development board as the core processor, integrating inertial measurement units (IMUs) and wireless communication modules, while utilizing visual sensors for environmental perception. Dynamic simulation results demonstrate that the robot can overcome obstacles twice its wheel diameter and maintain stable climbing capability. This innovation enhances versatility for applications in rescue, inspection, and exploration tasks.

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Air-Ground-Wall Robot with Multimodal Morphological Adaptation

  • 会议论文

  • 发表日期：

    2026年

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  • Juanxia Zhou,
  • Jiajun Xu,
  • Mengcheng Zhao,
  • Peixin Wang,
  • Youfu Li

摘要

To address the limitations of mobile robots in obstacle avoidance and the challenges faced by unmanned aerial vehicles in harsh weather and confined environments, this paper proposes a novel multi-modal aircraft based on morphological adaptation. The robot adopts a wheel-propeller coaxial drive architecture and a multi-degree-of-freedom hip joint system, enabling efficient switching among three motion modes: low-altitude flight, wall climbing, and ground driving mode. This design resolves the issues of component redundancy and excessive weight in traditional designs. To ensure that the robot maintains stability without slipping or tipping over during slope navigation, this study conducts static equilibrium analysis. The control system employs an STM32 development board as the core processor, integrating inertial measurement units (IMUs) and wireless communication modules, while utilizing visual sensors for environmental perception. Dynamic simulation results demonstrate that the robot can overcome obstacles twice its wheel diameter and maintain stable climbing capability. This innovation enhances versatility for applications in rescue, inspection, and exploration tasks.