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

2026-03-03

AI Summary

This work addresses the challenge posed by flooded buildings that impede aerial robots from accessing lower-level areas during flood rescue operations, thereby limiting mission effectiveness. To overcome this limitation, the authors propose a land–air–water triphibious robot featuring an integrated propulsion architecture that reuses motors across all three domains, enabling efficient operation and seamless transitions within a single system. A unified cross-domain dynamic model and control framework are developed, and propulsion performance is optimized through simulation and pool-based experiments. The resulting design achieves a 100% improvement in propulsion efficiency and a 150% increase in maximum thrust. Experimental validation demonstrates the robot’s stable cross-domain locomotion capabilities and robust adaptability to real-world environments.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Humans and AI: Planning and Decision Support for Human-Machine Teams
• Philosophy and Ethics of AI: Safety, Robustness & Trustworthiness

Application Category

• Search and Retrieval-Augmented AI: Multilingual and cross-lingual Web search
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Systems and Infrastructure for Web, Mobile and WoT: Web applications in cross-disciplinary domains and verticals such as mixed reality, smart cities, and digital health

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.

Problem

• flood disaster rescue
• aerial robot accessibility
• submerged buildings
• multi-domain exploration
• mission effectiveness

Innovation

• multimodal robot
• unified propulsion system
• cross-domain control
• thrust optimization
• mechanical design reuse