Legged robots and flying robots each have strengths, but putting both modes in one platform is hard. The abstract of a new arXiv paper (2610.27315) notes that integrating dynamic legged locomotion with aerial mobility is "deterred by challenges in payload distribution, actuation, and the contrasting requirements of both domains."
The paper, titled "Design and Control of a Multimodal Legged-Aerial Robot Through Separate Control Contraction Metrics," appears to address this by using separate control contraction metrics for the two domains. Control contraction metrics are a tool for designing stabilizing controllers for nonlinear systems, and the title suggests the authors apply distinct metrics for legged and aerial operation.
However, the abstract provided is cut off after "In this paper, we present the…" — so the specific robot design, control approach, and any experimental validation are not available from this source. Readers should consult the full paper for details.