# A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform

arXiv: https://arxiv.org/abs/2207.12254 · HTML: https://mlsanity.com/paper/2207.12254/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Jul 2022.

## Built on by (most cited first, 2 of 2)

- [Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA](https://mlsanity.com/paper/2406.13700/) (2024)
- [Guiding Energy-Efficient Locomotion through Impact Mitigation Rewards](https://mlsanity.com/paper/2510.09543/) (2025)

## Abstract (arXiv)

Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion feat can yield ultra-flexible systems in terms of their ability to negotiate their task spaces. The main objective of this paper is to discuss the challenges in achieving multi-modal locomotion, and to report our progress in developing our quadrupedal robot capable of multi-modal locomotion (legged and aerial locomotion), the Husky Carbon. We report the mechanical and electrical components utilized in our robot, in addition to the simulation and experimentation done to achieve our goal in developing a versatile multi-modal robotic platform.