Image 1 - A robot capable of negotiating unstructured, multi-substrate environments, including land and air, by employing its components in different ways as wheels, thrusters, and legs.

Image 2 for Multi-Modal Mobility Morphobot (M4)

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Multi-Modal Mobility Morphobot (M4)

Creator: Caltech, JPL, Northeastern University

Country: United States of America

Summary

A robot capable of negotiating unstructured, multi-substrate environments, including land and air, by employing its components in different ways as wheels, thrusters, and legs.

Status: Prototype, Research

Operation: Autonomous, Semi-autonomous, Teleoperation

Robot Type / Domain: Research, Emergency & Disaster Response

Tasks: navigating unstructured environments, search and rescue, aerial surveying

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"The robotic biomimicry of animals’ appendage repurpos-ing can yield mobile robots with unparalleled capabilities. Taking inspiration from animals, we have designed a robot capable of negotiating unstructured, multi-ubstrate environments, including land and air, by employing its components in different ways as wheels, thrusters, and legs. This robot is called the Multi-Modal Mobility Morphobot, or M4 in short. M4 can employ its multi-functional components composed of several actuator types to (1) fly, (2) roll, (3) crawl, (4) crouch, (5) balance, (6) tumble, (7) scout, and (8) loco-manipulate. M4 can traverse steep slopes of up to 45 deg. and rough terrains with large obstacles when in balancing mode. M4 possesses onboard computers and sensors and can autonomously employ its modes to negotiate an unstructured environment."

Sihite, E., Kalantari, A., Nemovi, R. et al. Multi-Modal Mobility Morphobot (M4) with appendage repurposing for locomotion plasticity enhancement. Nat Commun 14, 3323 (2023). https://doi.org/10.1038/s41467-023-39018-y

Technical Specifications

Size: 0.7L 0.35W 0.35H (mm)

Size: 0.028L 0.014W 0.014H (in)

Max. Payload: N/A

Weight: 6 kg

Weight: 13.228 lbs

Max. Locomotion Speed: N/A

Max. Slope: 45°

Battery Operated? Yes

Average Runtime: N/A

Max. Runtime: N/A

Battery Recharge Time: N/A

Number of Axes: N/A

Number of Wheels: 4

Wheels: Standard wheels

Manipulation: N/A

IP Rating: N/A

Operating Temperature: N/A

Open-source? N/A

Price: N/A

Show more specs

Total number of DOFs: 22

Each propeller-motor max. thrust force: 2.2 kg-force

Wheel diameter: 0.25 m

Sensors: stereo depth camera from Intel RealSense

Controller & Computing: Jetson Nano; Main controller: SAM3X8E ARM Cortex M3; Flight controller: STM32H743AI ARM Cortex M7

Material: The chassis structures and shrouded propeller components in M4 were primarily made of carbon fiber and 3D-printed parts

Actuators: Hip Servos: (x8) 55 kg.cm torque; Wheel motors: 25D, 9.7:1 gearbox; Propeller motors: 2514 1500KV

Battery: Lithium polymer battery 6S 40C 4000 mAh

Power Consumption: Each wheel motor operates at 12V and draws 1–3A while each propeller motor operates at 24V and draws 20–40A. Each joint servo operates at 7.4V and draws 0.1–0.3A.

No more specs to show.

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References

Sihite, E., Kalantari, A., Nemovi, R. et al. Multi-Modal Mobility Morphobot (M4) with appendage repurposing for locomotion plasticity enhancement. Nat Commun 14, 3323 (2023). https://doi.org/10.1038/s41467-023-39018-y

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