Robots able to run, fly, and grasp have a high potential to solve a wide scope of tasks and navigate in complex environments. Several mechatronic designs of such robots with adaptive morphologies are emerging. However, the task of landing on an uneven surface, traversing rough terrain, and manipulating objects still presents high challenges. This paper introduces the design of a novel rotor UAV MorphoGear with morphogenetic gear and includes a description of the robot's mechanics, electronics, and control architecture, as well as walking behavior and an analysis of experimental results. MorphoGear is able to fly, walk on surfaces with several gaits, and grasp objects with four compatible robotic limbs. Robotic limbs with three degrees of freedom (DoFs) are used by this UAV as pedipulators when walking or flying and as manipulators when performing actions in the environment. We performed a locomotion analysis of the landing gear of the robot. Three types of robot gaits have been developed. The experimental results revealed low crosstrack error of the most accurate gait (mean of 1.9 cm and max of 5.5 cm) and the ability of the drone to move with a 210 mm step length. Another type of robot gait also showed low crosstrack error (mean of 2.3 cm and max of 6.9 cm). The proposed MorphoGear system can potentially achieve a high scope of tasks in environmental surveying, delivery, and high-altitude operations.

翻译：具备奔跑、飞行与抓取能力的机器人在完成多样化任务及复杂环境导航方面具有巨大潜力。当前，多种采用自适应形态的此类机器人机电设计方案正在不断涌现。然而，在不平整表面着陆、穿越崎岖地形以及操作物体等任务仍极具挑战性。本文提出了一种新型旋翼无人机MorphoGear的设计方案，其核心为形态发生齿轮，并详细阐述了该机器人的机械结构、电子系统、控制架构、行走行为及实验结果分析。MorphoGear能够实现飞行、以多种步态在地面行走，并通过四条兼容性机械肢体抓取物体。该无人机将具备三自由度（DoFs）的机械肢体用于行走或飞行时的步足操作，并在环境交互中作为操作器使用。我们对机器人的起落架进行了运动学分析，并开发了三种机器人步态。实验结果表明：精度最高的步态具有较低横向轨迹误差（均值1.9厘米，最大5.5厘米），且无人机可实现210毫米步长移动；另一种步态同样展现出低横向轨迹误差（均值2.3厘米，最大6.9厘米）。所提出的MorphoGear系统有望在环境勘测、物资投送及高空作业等领域完成多样化任务。