This paper presents a novel aerial–ground robotic system that integrates a hexacopter UAV with a vibration-isolated quadruped robot for autonomous deployment, environmental interaction, and delivery of objects in unstructured terrains. We introduce a unique charpai-inspired spring-thread suspension platform. This passive system effectively attenuates aerial vibrations during flight, enabling stable in-flight transport of a 12-DOF quadruped. The robot employs a front-mounted, ant-inspired 2-DOF gripper and a ROS2-based control stack for vision-guided navigation and inertial stabilization. Unlike prior UAV–UGV platforms, our system enables active mid-air balancing, terrain-aware deployment, and autonomous object manipulation, validated in complex outdoor environments. Theoretical modeling and experimental validation reveal over 85% vibration isolation efficiency, with field trials confirming robust performance in complex outdoor environments. This work establishes a scalable and robust hybrid framework enabling autonomous monitoring, disaster response, and autonomous precision delivery in challenging terrains.
KrizmancicMArbanasBPetrovicT, et al. Cooperative aerial-ground multi-robot system for automated construction tasks. IEEE Robot Autom Lett2020; 5(2): 798–805.
2.
ShaharFSSultanMTHNowakowskiM, et al. UGV-UAV integration advancements for coordinated missions: a review. J Intell Robot Syst2025; 111(2): 1–34.
3.
PrettoAAravecchiaSBurgardW, et al. Building an aerial–ground robotics system for precision farming: an adaptable solution. IEEE Robot Autom Mag2021; 28(3): 29–49.
4.
SahuAKumarRP. Design and implementation of hexacopter drone with integrated suction and lift mechanism with real-time depth sensing for precision object handling. In: Proceedings of the 2024 9th international conference on robotics and automation engineering (ICRAE), 2024, pp.6–11. IEEE.
5.
Martinez-RozasSReyRAlejoD, et al. Skyeye team at mbzirc 2020: a team of aerial and ground robots for GPS-denied autonomous fire extinguishing in an urban building scenario. Field Robot2022; 2(2): 258–287. https://doi.org/10.55417/fr.2022028
6.
LindqvistBKarlssonSKovalA, et al. Multimodality robotic systems: integrated combined legged-aerial mobility for subterranean search-and-rescue. Robot Auton Syst2022; 154: 104134.
7.
Martínez-RozasSAlejoDCarpioJJ, et al. Long duration inspection of GNSS-denied environments with a tethered UAV-UGV marsupial system. arXiv preprint arXiv:2505.23457 [cs.RO], 2025. https://arxiv.org/abs/2505.23457
8.
ZhouCMaGLiW, et al. Motion control of a hybrid quadruped-quadrotor robot. In: Proceedings of the 2022 IEEE/RSJ international conference on intelligent robots and systems (IROS), 2022, pp.7229–7235. IEEE.
9.
CamposCElviraRRodriguezJJG, et al. Orb-slam3: an accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Trans Robot2021; 37(6): 1874–1890.
10.
PengJChenDYangQ, et al. Visual SLAM based on object detection network: a review. Comput Mater Contin2023; 77(3): 3209–3236.
11.
de CroonGCHEDupeyrouxJJGFullerSB, et al. Insect-inspired AI for autonomous robots. Sci Robot2022; 7(67): eabl6334.
12.
SeminiCTsagarakisNGGuglielminoE, et al. Design of HyQ—a hydraulically and electrically actuated quadruped robot. J Syst Control Eng2011; 225(6): 831–849.
13.
HutterMGehringCJudD, et al. ANYmal—a highly mobile and dynamic quadrupedal robot. In: Proceedings of the 2016 IEEE/RSJ international conference on intelligent robots and systems (IROS), 2016, pp.38–44. IEEE.
14.
PushpDKalhapureSDasK, et al. UAV-miniUGV hybrid system for hidden area exploration and manipulation. In: 2022 IEEE/RSJ Int conf on intelligent robots and systems (IROS), 2022, pp.1297–1304. IEEE.
15.
LiuCZhangWYuK, et al. Quasi-zero-stiffness vibration isolation: designs, improvements and applications. Eng Struct2024; 301: 117282.
16.
LoewenH. Isolating components from UAV vibration. MicroPilot, 2013.
17.
CocuzzaSDoriaA. Modeling and identification of vibrations in a UAV for aerial manipulation. In: NiolaVGasparettoA (eds) Advances in Italian Mechanism Science. Springer, 2021, pp.182–190.
18.
GörmüşMTAdinBFYaylaP. Passive isolator design and vibration damping of EO/IR gimbal used in UAVs. Int J Aviat Sci Technol2023; 4(01): 32–40.
19.
ZhuYZhengZShaoJ, et al. Modeling, robust control design, and experimental verification for quadrotor carrying cable-suspended payload. IEEE Trans Autom Sci Eng2025; 22: 6061–6075.
20.
KimJParkJKimD, et al. High-speed quadruped robot for urban search and rescue. IEEE Robot Autom Lett2019; 4(2): 697–704.
21.
RaibertMH. Legged robots that balance. MIT Press, 1986.
22.
ChungJWParkIWOhJH. On the design and development of a quadruped robot platform. Adv Robot2010; 24(1–2): 277–298.
23.
ZongHZhangJJiangL, et al. Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization. Bio-Des Manuf2024; 7(1): 1–13.
24.
SwaminathanASurendranRJoel BenjaminJ, et al. Design and development of light weight and low-cost quadruped robot for spying and surveillance. In: 2022 Int conf on innovation and intelligence for informatics, computing, and technologies (3ICT), 2022, pp.500–504. IEEE.
25.
HutterMGehringCLauberA, et al. ANYmal - toward legged robots for harsh environments. Adv Robot2017; 31(17): 918–931.
26.
BuchananRCamurriMDellaertF, et al. Learning inertial odometry for dynamic legged robot state estimation. In: Conference on robot learning, 2021, pp.1575–1584. PMLR.
27.
D’ImperioMCannellaFSeminiC, et al. Finite element analysis within component design process of hydraulic quadruped robot. In ASME Int Des Eng Tech Conf Comput Inf Eng Conf (IDETC/CIE), 2014, vol. 46407, p.V007T05A005. ASME.
28.
WensingPMWangASeokS, et al. Proprioceptive actuator design in the MIT cheetah: impact mitigation and high-bandwidth physical interaction for dynamic legged robots. IEEE Trans Robot2017; 33(3): 509–522.
YanWPanYCheJ, et al. Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies. PeerJ Comput Sci2021; 7: e821.
31.
DongSFanFChenY, et al. Gait planning, and motion control methods for quadruped robots: achieving high environmental adaptability: a review. Comput Model Eng Sci2025; 143(1): 1–50.
32.
WuYGuoSNiuL, et al. A kinematics-based optimization design for the leg mechanism of a novel earth rover. J Mech Des2024; 146(9): 093302.
33.
RongXWLiYBRuanJH, et al. Kinematics analysis and simulation of a quadruped robot. Appl Mech Mater2010; 26–28: 517–522.
34.
RunBinCYangZhengCLinL, et al. Inverse kinematics of a new quadruped robot control method. Int J Adv Robot Syst2013; 10(1): 46.
35.
SinghSZuberMBhatN, et al. Bio-inspired robotics: kinematic and gait analysis of quad and hexa-legged systems. J Robot Control2025; 6(2): 757–768.
36.
ZanottiALaurenzaMPepeG, et al. Trotting gait optimization method for a quadruped robot. In: 2024 Eur control conf (ECC), 2024, pp.609–614. IEEE.
37.
ChenMZhangKWangS, et al. Analysis and optimization of interpolation points for quadruped robots joint trajectory. Complexity2020; 2020(1): 1–17.
38.
GongCFangHYuanL, et al. A composite motion control method for quadruped robots in trot gait. J Vib Control2025; 31: 3450–3462.
39.
GeronelRSBotezRMBuenoDD. On the effect of flexibility on the dynamics of a suspended payload carried by a quadrotor. Design2022; 6(2): 31.
