ATMO: an aerially transforming morphobot for dynamic ground-aerial transition

Copyright and License

© 2025, The Author(s). This article is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License, which permits any non-commercial use, sharing, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if you modified the licensed material. You do not have permission under this licence to share adapted material derived from this article or parts of it. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by-nc-nd/4.0/.

Acknowledgement

We are grateful to Gabriel Margaria, Quentin Delfosse, Vincent Gherold, Simon Gmür and Alejandro Stefan-Zavala who helped with flight experiments and Scott Bollt and Julian Humml who provided their assistance in setting up the lasers for smoke visualization and the robotic arm used for load cell testing. We also thank Alexandros Rosakis for comments on an early draft of the manuscript. This project was supported by funding from the Center for Autonomous Systems and Technologies at Caltech. Ioannis Mandralis is an Onassis Scholar and was supported by the GALCIT endowment graduate student fellowship.

Code Availability

The code developed for this work is available at: https://github.com/mandralis/ATMO.

Supplemental Material