Animals often exhibit the ability to operate in and transition between multiple modes of locomotion efficiently and elegantly. On the other hand, robotic platforms have typically focused on a single mode of locomotion. This thesis presents the conceptual development, design, and verification of a robotic platform capable of locomotion in scansorial and aerial regimes based on biological analogs. A review of related work is conducted on animals, previous climbing platforms, and multi-modal robots. A 2D dynamics simulation is developed and the effect of sprawl angle simulated. The development of a miniature bipedal dynamic climbing platform is discussed and an experimental investigation on the effect of sprawl angle on dynamic climbing conducted. The platform design for a multi-modal climbing and gliding robot is presented and a discussion on the trade-offs for multi-modal locomotion presented. The multi-modal platform, ICAROS, is experimentally operated to verify the design specifications. The resulting ICAROS platform demonstrates climbing prepared vertical surfaces and transitioning to a glide path with performance characteristics comparable to its biological counterparts.