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

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.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0001-4E41-F Version Permalink: http://hdl.handle.net/21.11116/0000-0001-5947-C
Genre: Poster

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 Creators:
Ryll, M1, 2, Author              
Bülthoff, HH1, 2, Author              
Robuffo Giordano, P, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 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.

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 Dates: 2013-09
 Publication Status: Published in print
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 Identifiers: BibTex Citekey: RyllBR2013_2
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Title: 6th International Workshop on Human-Friendly Robotics (HFR 2013)
Place of Event: Roma, Italy
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Title: 6th International Workshop on Human-Friendly Robotics (HFR 2013)
Source Genre: Proceedings
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Pages: 2 Volume / Issue: - Sequence Number: - Start / End Page: - Identifier: -