# Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot

arXiv: https://arxiv.org/abs/2311.09963 · HTML: https://mlsanity.com/paper/2311.09963/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Nov 2023.

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

- [Multi-Modal Data Fusion for Moisture Content Prediction in Apple Drying](https://mlsanity.com/paper/2504.07465/) (2025)
- [Reinforcement Learning-Based Model Matching to Reduce the Sim-Real Gap in COBRA](https://mlsanity.com/paper/2406.13700/) (2024)

## Abstract (arXiv)

Robot designs can take many inspirations from nature, where there are many examples of highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by using multi-functional appendages. For example, Chukar and Hoatzin birds can repurpose their wings for quadrupedal walking and wing-assisted incline running (WAIR) to climb steep surfaces. We took inspiration from nature and designed a morphing robot with multi-functional thruster-wheel appendages that allows the robot to change its mode of locomotion by transforming into a rover, quad-rotor, mobile inverted pendulum (MIP), and other modes. In this work, we derive a dynamic model and formulate a nonlinear model predictive controller to perform WAIR to showcase the unique capabilities of our robot. We implemented the model and controller in a numerical simulation and experiments to show their feasibility and the capabilities of our transforming multi-modal robot.