The main contribution of this MS Thesis is centered around taking steps towards successful multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This work discusses the challenges involved in achieving multi-modal locomotion such as trotting-hovering and thruster-assisted incline walking and reports progress made towards overcoming these challenges. Animals like birds use a combination of legged and aerial mobility, as seen in Chukars' wing-assisted incline running (WAIR), to achieve multi-modal locomotion. Chukars use forces generated by their flapping wings to manipulate ground contact forces and traverse steep slopes and overhangs. Husky's design takes inspiration from birds such as Chukars. This MS thesis presentation outlines the mechanical and electrical details of Husky's legged and aerial units. The thesis presents simulated incline walking using a high-fidelity model of the Husky Carbon over steep slopes of up to 45 degrees.

翻译：本硕士论文的主要贡献在于推动多模态演示的成功实现，使用东北大学的腿-空两栖机器人Husky Carbon。本文讨论了实现多模态运动（如小跑-悬停和推进器辅助斜面行走）所涉及的挑战，并报告了克服这些挑战所取得的进展。鸟类如鸪鹑利用腿部和空中运动的结合来实现多模态运动，例如鸪鹑的机翼辅助斜面奔跑（WAIR）。鸪鹑利用翅膀拍打产生的力来操纵地面接触力，从而穿越陡坡和悬垂地形。Husky的设计从鸪鹑等鸟类中汲取灵感。本硕士论文陈述概述了Husky的腿部与空中单元的机械与电气细节。论文通过Husky Carbon的高保真模型模拟了在高达45度陡坡上的斜面行走。