Humanoids are versatile robotic platforms because of their limbs with multiple degrees of freedom. Although humanoids can walk like humans, the speed is relatively slow, and they cannot run over large barriers. To address these problems, we aim to achieve rapid terrestrial locomotion ability and simultaneously expand the domain of locomotion to the air by utilizing thrust for propulsion. In this paper, we first describe an optimized construction method of a humanoid robot equipped with wheels and a flight unit to achieve these abilities. Then, we describe the integrated control framework of the proposed flying humanoid for each mode of locomotion: aerial locomotion, leg locomotion, and wheel locomotion. Finally, we achieved multimodal locomotion and aerial manipulation experiments using the robot platform proposed in this work. To the best of our knowledge, it is the first time to achieve three different types of locomotion, including flight, by a single humanoid.

翻译：人形机器人因其具有多自由度肢体的特点而成为通用型机器人平台。尽管人形机器人能够模仿人类行走，但其运动速度相对较慢，且难以跨越大型障碍。为解决上述问题，本研究旨在通过利用推力推进实现快速地面运动能力，同时将运动域扩展至空中领域。本文首先描述了一种配备轮式机构与飞行单元的人形机器人的优化构建方法，以实现上述能力。随后，我们提出了该飞行人形机器人在各运动模态下的集成控制框架，包括空中运动、腿部运动及轮式运动。最终，我们基于本文提出的机器人平台实现了多模态运动与空中操作实验。据我们所知，这是首次通过单一人形机器人实现包含飞行在内的三种不同运动模态。