一款可空中、陆地、水下三模式通行的机器人，用同一套推进系统实现高效转换。
Wukong-Omni: Design, Modeling and Control of a Multi-mode Robot for Air, Land, and Underwater Exploration with All-in-One Propulsion Unit
- 通过创新机械设计实现电机复用，提升推力与效率
- 推进效率提升100%，最大推力增加150%
- 适合灾害救援场景，尤其适用于洪水后复杂环境探测
在洪灾救援中，部分淹没的建筑阻碍了飞行机器人进入低层空间，影响任务效果。为此，本文提出Wukong-Omni，一种可跨陆地、空中、水下三种环境运行的多模式机器人，采用一体化推进系统。其创新机械结构实现电机复用并提升推力输出，经仿真与水池优化验证，相较直接安装方式，推进效率提升100%，最大推力提高150%。建立了三域动态模型，提出统一跨域控制框架。综合实验验证了各模式下稳定运动及平滑切换能力，户外测试进一步展示了在真实环境中的鲁棒性与适应性。
原文摘要 · Abstract (English)
In flood disaster rescue scenarios, partially submerged buildings prevent aerial robots from accessing lower levels, limiting mission effectiveness. To address this challenge, this paper presents Wukong-Omni, a novel multimode robot capable of operating across land, air, and underwater using a unified propulsion system. The system is enabled by an innovative mechanical design that allows motor reuse and improves thrust generation. Efficiency and peak thrust are enhanced through simulation and tank-based optimization. Experimental results show a 100 percent improvement in propulsion efficiency and a 150 percent increase in maximum thrust compared with direct installation methods. Dynamic models for the three operating domains are developed, and a unified cross-domain control framework is proposed. Comprehensive experiments validate stable locomotion and smooth transition across domains. Outdoor experiments further demonstrate robustness and adaptability in real-world environments.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。