King's College London - Master's Thesis

• Project Goal: take the metamorphic design of the existing Origaker and make it fly. 

• Application: create a platform that can traverse across difficult terrain and in the air for disaster recovery, infrastructure inspection, and other difficult to access applications. 

• Project Features:

  • 3 walking quadruped modes

  • 2 flying quadcopter modes

  • PX4 based state estimation utilizes Extended Kalman Filter to fuse IMU, LiDAR, and optical flow sensor data in a GPS constrained environment

  • Arduino MEGA used for custom cascading PID flight loop with gain scheduling to maintain stability during flight transformations

• Result: prototype complete with successful flight tests to demonstrate attitude stability during midair shape change and quadruped walking modes (2027 IEEE International Conference on Robotics & Automation (ICRA) paper submitted)