  Robots able to run, fly, and grasp have a high potential to solve a wide
scope of tasks and navigate in complex environments. Several mechatronic
designs of such robots with adaptive morphologies are emerging. However, the
task of landing on an uneven surface, traversing rough terrain, and
manipulating objects still presents high challenges.
  This paper introduces the design of a novel rotor UAV MorphoGear with
morphogenetic gear and includes a description of the robot's mechanics,
electronics, and control architecture, as well as walking behavior and an
analysis of experimental results. MorphoGear is able to fly, walk on surfaces
with several gaits, and grasp objects with four compatible robotic limbs.
Robotic limbs with three degrees of freedom (DoFs) are used by this UAV as
pedipulators when walking or flying and as manipulators when performing actions
in the environment. We performed a locomotion analysis of the landing gear of
the robot. Three types of robot gaits have been developed.
  The experimental results revealed low crosstrack error of the most accurate
gait (mean of 1.9 cm and max of 5.5 cm) and the ability of the drone to move
with a 210 mm step length. Another type of robot gait also showed low
crosstrack error (mean of 2.3 cm and max of 6.9 cm). The proposed MorphoGear
system can potentially achieve a high scope of tasks in environmental
surveying, delivery, and high-altitude operations.
