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Overactuation in UAVs for Enhanced Aerial Manipulation: A Novel Quadrotor Concept with Tilting

MPS-Authors
/persons/resource/persons84181

Ryll,  M
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons83839

Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

External Resource

https://hfr13.files.wordpress.com/2013/08/06ryll.pdf
(Publisher version)

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Citation

Ryll, M., Bülthoff, H., & Robuffo Giordano, P. (2013). Overactuation in UAVs for Enhanced Aerial Manipulation: A Novel Quadrotor Concept with Tilting. Poster presented at 6th International Workshop on Human-Friendly Robotics (HFR 2013), Roma, Italy.


Cite as: https://hdl.handle.net/21.11116/0000-0001-4E41-F
Abstract
In this work we present a novel concept of a quadrotor UAV with tilting propellers. Standard quadrotors are limited in their mobility and ability to interact with the environment because of their intrinsic underactuation (only 4 independent control inputs vs. their 6-dof pose in space). The proposed quadrotor prototype, on the other hand, has the ability to also control the orientation of its 4 propellers, thus making it possible to overcome the aforementioned underactuation and behave as a fully-actuated flying vehicle. We first describe the control design of our actuated UAV, illustrate the hardware and software specification of our flying prototype, and finally show a future perspective for an interaction task between the UAV and the environment.