Locomotion and transitional procedures for a hexapod-quadcopter robot

Abstract

A novel hexapod-quadcopter robot was developed with multicopter flight hardware directly embedded in the hexapod legs. This paper discusses the locomotion implementations for walking and flying in addition to transitional procedures necessary to switch between these two modes of operation. The algorithms were programmed using Robot Operating System on the 3D printed robot and tested to verify feasibility and performance.