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

TL;DR

Wukong-Omni is a versatile multi-mode robot designed for air, land, and underwater exploration, featuring a unified propulsion system that enhances efficiency, thrust, and transition stability across domains.

Contribution

The paper introduces a novel mechanical design and control framework enabling a single robot to operate seamlessly across multiple environments with improved propulsion performance.

Findings

100% increase in propulsion efficiency

150% increase in maximum thrust

Successful multi-domain transition and outdoor robustness

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.