Design and Control of a Midair-Reconfigurable Quadcopter using Unactuated Hinges
Вставка
- Опубліковано 16 гру 2021
- Design and Control of a Midair-Reconfigurable Quadcopter using Unactuated Hinges -- High Performance Robotics Laboratory (HiPeRLab), UC Berkeley - hiperlab.berkeley.edu
Paper: arxiv.org/pdf/2103.16632.pdf
A novel quadcopter capable of changing shape mid-flight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accomplished without requiring actuators beyond the four motors typical of a quadcopter. Morphing is achieved through freely-rotating hinges that allow the vehicle arms to fold downwards by either reducing or reversing thrust forces. Constraints placed on the control inputs of the vehicle prevent the arms from folding or unfolding unexpectedly. This allows for the use of existing quadcopter controllers and trajectory generation algorithms with only minimal added complexity. For our experimental vehicle at hover, we find that these constraints result in a 36% reduction of the maximum yaw torque the vehicle can produce, but do not result in a reduction of the maximum thrust or roll and pitch torques. Experimental results show that, for a typical maneuver, the added limits have a negligible effect on trajectory tracking performance. Finally, the ability to change configurations is shown to enable the vehicle to traverse small passages, perch on hanging wires, and perform limited grasping tasks.
Researchers: Nathan Bucki, Jerry Tang, and Mark W. Mueller
Video: Nathan Bucki
Acknowledgements: This material is based upon work supported by the Berkeley Fellowship for Graduate Study and the NSF GRFP (Grant No. DGE 1752814). The experimental testbed at the HiPeRLab is the result of contributions of many people, a full list of which can be found at hiperlab.berkeley.edu/members/. - Наука та технологія
Amazing engineering and clever.I can see a lot applications for this drone.
Very clever. Talk about thinking outside the box!
I feel like the folding action would be a great addition to drone racing, requiring operators to traverse complicated terrain and narrow gaps. Very cool.
How can this video have only 630 views 😳 i'm shocked... you guys pulled out a tremendously cool advancement in the field.
Anyway i think that a simple mechanical propeller arm locking system wouldn't affect the weight too much. I feel that it would be a significant advantage to have improved yaw.
And mechanically actuate the arms with some degree of choice could also be an improvement since that would allow the arms to be folded just the amount needed to pass through the gap and still manage to provide some lift to the whole thing. If I'm not wrong you guys use the reverse propeller direction to fold the arms, I'm pretty sure that a servo would probably be more efficient at doing the same task.
There were my thoughts, for the rest i can see may usefull application for drone racing too, imagine drone tracks where they fly full speed through tiny gapsby folding the arms mid flight or maybe had to suicide dive down a tight tube 🤔 wow haha
Just amazing
This is cool ! Good work
I'm thinking the things can land on a power line and use inductive charging to re-charge.
that is a very interesting proposition!
Very interesting
I'm not sure if it's 'hormones'...but this amazing autonomous aerial ballet almost brought tears to my eyes...
Its hormones caused from your Vegan diet which is rotting your brain...... Totally just joking
@@fugginrambo LOLOL!!!
@@VEGANSAM ohh good u have a sense of humor!☺️ On a serious note, this is amazing and the ability to morph on the fly without extra electronics or sensors blows my mind. Very cool stuff!
@@fugginrambo I couldn't agree more...
Thats super cool
how to buy it?
If you order a drone from Amazon, it could deliver itself.