  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.
