  We report the design of a morpho-functional robot called Husky Carbon. Our
goal is to integrate two forms of mobility, aerial and quadrupedal-legged
locomotion, within a single platform. There are prohibitive design restrictions
such as tight power budget and payload, which can particularly become important
in aerial flights. To address these challenges, we pose a problem called the
Mobility Value of Added Mass (MVAM) problem. In the MVAM problem, we attempt to
allocate mass in our designs such that the energetic performance is affected
the least. To solve the MVAM problem, we adopted a generative design approach
using Grasshopper's evolutionary solver to synthesize a parametric design space
for Husky. Then, this space was searched for the morphologies that could yield
a minimized Total Cost Of Transport (TCOT) and payload. This approach revealed
that a front-heavy quadrupedal robot can achieve a lower TCOT while retaining
larger margins on allowable added mass to its design. Based on this framework
Husky was built and tested as a front-heavy robot.
