A Novel Quadrotor With a 3-Axis Deformable Frame Using Tilting Motions of Parallel Link Modules Without Thrust Loss

研究成果: ジャーナルへの寄稿学術誌査読

抄録

We propose a novel quadrotor with a 3-axis deformable frame using parallel link modules. By adding three servo motors to the frame, it has two configurations, namely, roll-pitch deformation mode and yaw deformation mode. In the roll-pitch deformation mode, it can tilt and fold the frame in the roll and pitch directions independently, which gives it 6 controllable degrees of freedom (CDOF). In the yaw deformation mode, it can contract the whole frame in the yaw direction. We propose a design method without thrust loss at any deformed state in both modes. In experiments, we show that it can fly stably even when deformed in both modes by the extended conventional control method. Furthermore, its applications are presented to demonstrate its high versatility.

本文言語英語
ページ(範囲)9581-9588
ページ数8
ジャーナルIEEE Robotics and Automation Letters
7
4
DOI
出版ステータス出版済み - 10月 1 2022

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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