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Poster

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

MPG-Autoren
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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;

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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;

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Zitation

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.


Zitierlink: http://hdl.handle.net/21.11116/0000-0001-4E41-F
Zusammenfassung
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.