Synchronized multi-modal robot

A multi-modal robot, comprising:

• a body;
• a plurality of control electronics disposed within the body portion, wherein the plurality of control electronics includes at least a leg controller and at least one flight controller;
• a plurality of motor elements disposed within the body;
• at least two leg elements each of the at least two leg elements connected to at least one of the plurality of motor elements and having a proximal portion and a distal portion where the proximal portion is move-ably coupled to the motor elements and disposed near a bottom portion of the body and wherein each of the two leg elements has a foot element disposed on the distal portion and having a top and a bottom surface wherein the foot element comprises a contact sensor disposed on the bottom surface, wherein the contact sensor is in communication with the at least one leg controller and the at least one flight controller;
• a plurality of propellers disposed on a top portion of the body wherein each of the plurality of propellers are in communication with the at least one flight controller and the at least one leg controller and configured to generate a thrust force;
• wherein the robot is configured to operate between at least a walking mode and at least a flight mode and wherein the control electronics operate to smoothly transition between the walking mode and the flight mode, wherein while in the walking mode the at least two leg elements are configured to support the weight of the robot and wherein each of the leg elements can move in a plurality of directions such that the movement of the legs enables the movement of the overall robot, and the plurality of propellers provide a sufficient amount of lift and orientation stabilization via the generated thrust force so as to provide stability of the robot during the walking mode;
• wherein while in the flight mode the at least one flight controller is configured to operate the plurality of propellers such that the thrust force generated from the plurality of propellers generates sufficient lift to elevate the robot above the ground and wherein at least one flight controller controls the plurality of propellers to move the robot in any number of directions;
• wherein each of the plurality of propellers are positioned at an angle leaning inwards towards the body of the robot;
• and
• wherein the tilt is directed inwards at a 25 degrees angle with respect to the torso vertical axis and directed inwards at a 45 degrees angle in the horizontal plane with respect to the forward direction.

A method for operating a multi-modal robot comprising;

• utilizing a control computer disposed within a body of the robot to receive signal inputs from a plurality of sensors;
• determining a mode of operation based on the signal inputs from the plurality of sensors;
• activating a leg controller in response to the signal inputs and initiating a walking mode, wherein the walking mode utilizes the leg controller to control the movement of at least two legs such that the movement of the at least two legs moves the robot;
• activating a flight controller in response to the signal inputs such that the flight controller activates a plurality of propellers such that the propellers generate an amount of lift to the robot so as to provide stability for walking;
• wherein at least one of the plurality of sensors is a contact sensor disposed on a bottom portion of each of the at least two legs such that the impact of each of the two legs with a solid surface will place the contact sensor in an active state;
• and
• removing each of the at least two legs from the solid surface thereby placing the contact sensor in a deactivated state and transmits the deactivated state to the leg controller and the flight controller such that the flight controller engages the plurality of rotors to generate sufficient lift to raise the robot off of the solid surface and begin a flight mode.