Multi-Modal Mobility Morphobot (M4)

Project Overview
This research introduces the Multi-Modal Mobility Morphobot (M4), a bio-inspired robot capable of traversing complex, unstructured terrains by repurposing its appendages for multiple modes of locomotion. Drawing inspiration from animals (e.g., birds that use wings for both flight and climbing), M4 demonstrates an unprecedented level of “locomotion plasticity” by using the same components—wheels, legs, thrusters—in different ways to roll, fly, crawl, crouch, balance, tumble, and manipulate objects.

Key Contributions and Capabilities

1. Multi-Modal Mobility

   • M4 can switch among eight distinct modes, such as ground vehicle (UGV), vertical balancing (MIP), aerial flight (UAS), and quadrupedal walking, offering resilience in environments with varied obstacles.

2. Appendage Repurposing

   • Each “leg” has two actuated joints plus a shrouded propeller that doubles as a wheel. By reorienting these appendages, M4 can increase its thrust-to-weight ratio (for aerial flight), enhance traction (to climb steep slopes), or vault over large obstacles (via a tumbling maneuver).

3. Autonomy and Path Planning

   • Onboard computers and sensors enable M4 to autonomously choose its locomotion mode. A multi-modal probabilistic roadmap (MM-PRM) and A* algorithm guide M4 in deciding when to drive, fly, or morph mid-mission for optimal energy use and obstacle avoidance.

4. Applications

   • Search and rescue scenarios in disaster areas, space exploration, delivery in residential settings, and precision agriculture are highlighted as prime use cases for M4’s versatile design.

My Role: Mechanical Design Engineer

• System Architecture & Chassis

  • I led the end-to-end mechanical design of the M4 platform, ensuring the main chassis, leg assemblies, and wheel–thruster modules integrated seamlessly. This included selecting lightweight yet robust materials (carbon fiber and fiber-inlay 3D-printed components) to maximize the robot’s strength-to-weight ratio.

• Appendage Mechanisms

  • I developed the leg linkages and gear-driven wheel shrouds so that each propeller could quickly pivot to act as a thruster, wheel, or manipulator. My design ensures minimal added mass while maintaining strength for both flight and ground operations.

• Modular Joint Design

  • The two-actuator hip mechanism was carefully sized and tested under different load conditions—like carrying onboard computers or traversing rough terrain—so the robot could reliably transform between modes without structural failures.

• Prototyping & Testing

  • I coordinated mechanical prototyping, iterative testing, and revisions that led to the final, scalable design. This involved bench tests of each appendage, full-robot tests of structural integrity during flight and tumbling maneuvers, and stress analyses to guarantee reliable performance.

Through my work on M4’s mechanical architecture, I helped create a robust, morphing system that enables the robot’s multi-modal capabilities—expanding what is possible for future search and rescue, exploration, and service robotics.