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

• URL: http://arxiv.org/abs/2603.02602v1
• Date: Tue, 03 Mar 2026 05:00:56 GMT
• Title: Wukong-Omni: Design, Modeling and Control of a Multi-mode Robot for Air, Land, and Underwater Exploration with All-in-One Propulsion Unit
• Abstract summary: Wukong- Omni is a novel multimode robot capable of operating across land, air, and underwater.<n>System is enabled by an innovative mechanical design that allows motor reuse and improves thrust generation.
• Score: 17.482006144612303
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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.

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