Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in complex tasks such as monitoring and exploring different types of terrain, and rescue operations. This paper presents MorphoArms, a novel system that consists of a morphogenetic chassis and a hand gesture recognition teleoperation system. The mechanics, electronics, control architecture, and walking behavior of the morphogenetic chassis are described. This robot is capable of walking and grasping objects using four robotic limbs. Robotic limbs with four degrees-of-freedom are used as pedipulators when walking and as manipulators when performing actions in the environment. The robot control system is implemented using teleoperation, where commands are given by hand gestures. A motion capture system is used to track the user's hands and to recognize their gestures. The method of controlling the robot was experimentally tested in a study involving 10 users. The evaluation included three questionnaires (NASA TLX, SUS, and UEQ). The results showed that the proposed system was more user-friendly than 56% of the systems, and it was rated above average in terms of attractiveness, stimulation, and novelty.

翻译：目前，能够飞行、行走和抓取物体的无人飞行器（UAV）较少。具备这些功能的无人机可显著提升其在复杂任务中的表现，例如对不同地形进行监测和探索，以及救援行动。本文提出MorphoArms这一新型系统，其由形态发生底盘和手势识别遥操作系统组成。文中描述了形态发生底盘的机械结构、电子系统、控制架构及行走行为。该机器人能够利用四个机械肢体行走并抓取物体。具有四个自由度的机械肢体在行走时用作步行器，在环境中执行动作时用作操作器。机器人控制系统通过遥操作实现，指令由手势给出。采用动作捕捉系统追踪用户手部并识别其手势。该机器人控制方法在涉及10名用户的研究中进行了实验测试。评估包含三份问卷（NASA TLX、SUS和UEQ）。结果表明，所提系统比56%的系统更易用，且在吸引力、刺激性和新颖性方面评分高于平均水平。