Design and Control of a Lightweight  Transforming Spider Quadruped with Mid-Leg  Rotor Integration for Hybrid Terrestrial-Aerial  Locomotion

Author(s)	Mr. Ritesh Sanjay Redekar, Mr. Swayam Kavlekar, Mr. Shreyas Kocheri, Mr. Kedar Sudhakar Chougule, Dr. Shubha B. Baravani
Country	India
Abstract	This paper presents the conceptual design, theoretical framework, and control architecture for a novel hybrid locomotion robot capable of both terrestrial walking and aerial flight. The proposed system is a spider-style quadruped that transforms into a quadcopter by reconfiguring its legs into rotor arms. A key innovation is the mid-leg rotor integration, where motors are positioned between the ankle and foot segments. This strategy is designed to provide substantial ground clearance for large propellers during locomotion while minimizing inertial loads on the leg servos and reducing bending moments on the structure during flight. A systematic component selection process, focused on maximizing the power-to-weight ratio, targets a total system mass of 1.418 kg. Performance simulations based on this design project a flight endurance of 6.5 minutes and a walking endurance of 26 minutes, indicating the potential viability of the design for multimodal missions.
Keywords	Hybrid Locomotion, Transforming Robot, Quadruped, Quadcopter, Lightweight Design, Spider Robot, Mid-Leg Rotor, VTOL
Field	Computer > Automation / Robotics
Published In	Volume 6, Issue 5, September-October 2025
Published On	2025-10-31
DOI	https://doi.org/10.63363/aijfr.2025.v06i05.1757
Short DOI	https://doi.org/g99qnv

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