File Name: Supplementary Video 1
Descrip
Ɵ
on:
A series of videos of the robot performing crouching locomo
Ɵ
on to pass through a low
-height ceiling,
loco-
manipula
Ɵ
on to grasp an object using its appendages, and legged locomo
Ɵ
on
to walk over rough
terrain.
File Name: Supplementary Video 2
Descrip
Ɵ
on:
A series of videos showing the robot driving in rover mode and transforming into UAV mode to fly over a
pond.
File Name: Supplementary Video 3
Descrip
Ɵ
on:
A video showing the robot performing "wing-assisted incline running (WAIR)", where the robot in
upr
ight MIP configura
Ɵ
on uses its upper thrusters to climb on a steep slope that the robot is unable to
climb with other ground locomo
Ɵ
on modes. This maneuver is performed on 30
- and 45-deg slopes.
File Name: Supplementary Video 4
Descrip
Ɵ
on:
A video showing the robot performing a tumbling maneuver to vault over an obstacle that cannot be
driven over. The robot transforms its front propellers to face upwards and li
Ō
s the upper body up while
the rear wheels drive the robot forward to vault over the obstacles. Then, the same sequence is
performed for the rear side and the robot transforms back into UGV once the obstacle has been cleared.
File Name: Supplementary Video 5
Descrip
Ɵ
on:
A video showing the robot transforming from UGV into upright MIP configura
Ɵ
o
n, and vice-versa. The
robot u
Ɵ
lizes the upper thrusters to pitch up or down during the transi
Ɵ
on.
File Name: Supplementary Video 6
Descrip
Ɵ
on:
A video showing the robot using its mul
Ɵ
-modal capability to autonomously follow a set of waypoints
with a m
o
Ɵ
on capture
system in the loop. The robot starts in UGV mode, drives near the tower,
transforms into UAV mode, flies and lands on top of the tower, then transforms back to UGV mode.
File Name: Supplementary Video 7
Descrip
Ɵ
on:
A video showing the
robot autonomously naviga
Ɵ
ng a complex environment with SLAM using an
onboard stereo-depth camera and computer. The target waypoint is provided by the user, then the robot
calculates a ground or aerial path to the target point while
exploi
Ɵ
ng
M4
's mul
Ɵ
-modal capability.