Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda, Adarsh Salagame, Ioannis Mandralis, Eric Sihite, Alireza Ramezani, Morteza Gharib
Abstract
Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operation. The Husky robot family, developed at North-eastern University, and specifically the Husky v.2 discussed in this study, addresses this challenge by incorporating posture manipulation and thrust vectoring into multi-modal locomotion through structure repurposing. This quadrupedal robot features leg structures that can be repurposed for dynamic legged locomotion and flight. In this paper, we present the hardware design of the robot and report primary results on dynamic quadrupedal legged locomotion and hovering.
BibTeX
@inproceedings{iros2025_dynamicquadruped,
title = {Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing},
author = {Chenghao Wang and Kaushik Venkatesh Krishnamurthy and Shreyansh Pitroda and Adarsh Salagame and Ioannis Mandralis and Eric Sihite and Alireza Ramezani and Morteza Gharib},
booktitle = {IROS 2025},
year = {2025}
}