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Wukong-Omni: Design, Modeling and Control of a Multi-mode Robot for Air, Land, and Underwater Exploration with All-in-One Propulsion Unit

Yufan Liu, Rixi Yu, Junjie Li, Yishuai Zeng, Zhenting Wen, Cheng Li, Haifei Zhu, Shikang Lian, Wei Meng, Fumin Zhang

Abstract

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.

Wukong-Omni: Design, Modeling and Control of a Multi-mode Robot for Air, Land, and Underwater Exploration with All-in-One Propulsion Unit

Abstract

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.
Paper Structure (28 sections, 22 equations, 27 figures, 18 tables)

This paper contains 28 sections, 22 equations, 27 figures, 18 tables.

Table of Contents

  1. 1 Introduction
  2. 2 ALL-IN-ONE PROPULSION UNIT
  3. 2.1 Problem Statement
  4. 2.2 Unit Mechanical Design
  5. 2.3 Wheel-Propeller Structure Optimization
  6. 2.4 Air propellers analysis and selection
  7. 2.5 Unit performance analysis
  8. 3 PROTOTYPE DESIGN
  9. 3.1 Mechanism Design
  10. 3.2 Avionics Component Selection
  11. 4 MULTI-MODAL DYNAMICS OF THE Wukong-Omni
  12. 5 CONTROL AND TRANSITION STRATEGY
  13. 5.1 The multi-mode control law design
  14. 5.2 Cross Domain Transition Strategy
  15. 1) Analysis of Multi-mode Constraints on Transition:
  16. ...and 13 more sections

Figures (27)

  • Figure 1: Several representative cross-domain and motor reuse structure prototypes. A. SHOALBOT wheel-propeller prototype (ma2022design). B. Coaxial tricopter based prototype (chaikalis2023mechatronic). C. Two-wheeled based prototype (takahashi2015all). D. Caged based prototype (guo2019system). E. Dipper's motor reuse structure prototype (rockenbauer2021dipper). F. TJ-FlyingFish's gearbox structure prototype (liu2023tj).
  • Figure 2: Cross-Domain Operation Scenarios in Flood Rescue Missions. A. Taking off from the rescue boat. B. Swimming to the operation area. C. Flying to the operation area. D. Searching for accessible entry points at the operation area. E. Performing search and rescue tasks. F. Swimming back to the rescue boat via the water surface. G. Flying back to the rescue boat. H. Diving to access submerged entrances. I. Entering through open entrances via flight or rolling.
  • Figure 3: A.The prototype of Wukong-Omni. B.The diagram of Wukong-Omni's various modes and the transitions.
  • Figure 4: All-in-One Propulsion Unit operation schematic. A. The Unit structure composition. B. The aerial mode. C. The aquatic and land mode. D. The exploded view of the developed unit. E. The front view and size of the unit. F. The gearbox structure details of the unit. G. The overall structure of the unit.
  • Figure 5: Performance evaluation of propellers in (160 mm, 180 mm, 200 mm) diameters. A. The Schematic of the test bench and water tank. B. The thrust-rpm curves. C. The efficiency-rpm curves. D. The torque-rpm curves. E. The motor–gearbox efficiency-rpm curves. F. The simulated efficiency-diameters curves using OpenProp.
  • ...and 22 more figures