Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to achieve rapid terrestrial locomotion ability and simultaneously expand the locomotion domain to the air by utilizing thrust for propulsion. In this paper, we first describe an optimized construction method for 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 locomotion mode: aerial, legged, and wheeled locomotion. Finally, we achieved multimodal locomotion and aerial manipulation experiments using the proposed robot platform. To the best of our knowledge, this is the first time that a single humanoid has simultaneously achieved three different types of locomotion, including flight.

翻译：仿人机器人因其多自由度肢体而成为多功能机器人平台。尽管仿人机器人能像人类一样行走，但其运动速度相对较慢，且无法跨越大型障碍。为解决这些局限，我们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。本文首先描述了一种配备轮式装置与飞行单元的仿人机器人优化构造方法，以实现上述能力。接着，我们针对所提出的飞行仿人机器人的各运动模式（空中、腿部及轮式运动）阐述了集成控制框架。最后，利用所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，这是首次由单一仿人机器人同时实现包括飞行在内的三种不同类型运动。