Design, Planning, and Control of an Origami-inspired Foldable Quadrotor

Yang, Dangli; Mishra, Shatadal; Aukes, Daniel M.; Zhang, Wenlong

doi:10.23919/acc.2019.8814351

Cited by 25 publications

(12 citation statements)

References 17 publications

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“…The stability proof for the system follows [18] but with the inclusion of a dynamically varying J in the attitude control loop. In our previous work [19], we showed the exponential stability of the attitude tracking for a bounded and varying J. Due to page limits, we omit the proof in this paper.…”

Section: Proposed Recovery Controllermentioning

confidence: 96%

Collision Recovery Control of a Foldable Quadrotor

Patnaik,

Mishra,

Chase

et al. 2021

Preprint

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Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial missions is desirable to prevent loss of the vehicle and/or payload. We address this problem by proposing a novel foldable quadrotor system which can sustain collisions and recover safely. The quadrotor is designed with integrated mechanical compliance using a torsional spring such that the impact time is increased and the net impact force on the main body is decreased. The post-collision dynamics is analysed and a recovery controller is proposed which stabilizes the system to a hovering location without additional collisions. Flight test results on the proposed and a conventional quadrotor demonstrate that for the former, integrated spring-damper characteristics reduce the rebound velocity and lead to simple recovery control algorithms in the event of unintended collisions as compared to a rigid quadrotor of the same dimension.

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Section: Proposed Recovery Controllermentioning

confidence: 96%

Collision Recovery Control of a Foldable Quadrotor

Patnaik,

Mishra,

Chase

et al. 2021

Preprint

Self Cite

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“…However, such designs are delicate and prone to breakage due to the multi-joint structure. Origami-based, laminated structures can also be used to create hinges and achieve folding (Yang et al 2019) as shown in Fig. 4c which can sustain unknown collisions, but they suffer from mechanical vibrations during flight without proper choices of materials.…”

Section: Active Foldable Rmsmentioning

confidence: 99%

“…b Foldable drone that utilizes spring and propeller thrust to fold (Bucki and Mueller 2019). c Origami-inspired quadrotor (Yang et al 2019). d Foldable drone with actuators at every arm-body joint (Falanga et al 2018b) the spring forces.…”

Section: Active Foldable Rmsmentioning

confidence: 99%

Towards reconfigurable and flexible multirotors

Patnaik

Zhang

2021

Int J Intell Robot Appl

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Reconfigurable multirotors (RMs) with flexible frames and integrated mechanical compliance are increasingly explored to develop multifunctional aerial robots with high power-to-weight ratios. In this paper, we review the state-of-the-art research on RMs and classify them into three broad categories as tiltrotors, multimodal and foldable RMs. The RMs with the ability to arbitrarily orient their thrust by employing tilting rotors are classified as tiltrotors, the multirotors with multi modal locomotion capabilities by transforming the chassis into land/water propulsion systems are classified as multimodal RMs, and those which can alter the size of the chassis are labelled as foldable RMs. Existing platforms are analyzed from three different perspectives-mechanical design, challenges of low-level control and high level motion planning techniques. Finally, we identify the critical parameters for design optimization, and discuss the issues associated with developing a common control and motion planning algorithm that can leverage any RM's features to demonstrate successful autonomous missions.in body frame i i th Rotor's spin velocity N ∈ ℝ n Vector of squared rotor spin velocities k i ∈ ℝ Constant to calculate torque generated by ith motor ∈ ℝ Event trigger i ∈ 1 i th Rotor tilt angle i ∈ 1 i th Arm folding angle A ∈ ℝ 3×3 Control allocation matrix A g ∈ ℝ 3×3 Control allocation matrix in ground mode Abbreviations LLFC Low-level flight controller HLMP High-level motion plannning MoCap Indoor motion capture system * Karishma Patnaik

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“…Similarly, Yang et al [ 21 ] demonstrated a new foldable MUAV constructed with an origami approach. They have used a multi-layered manufacturing technique to produce bending-based hinges that can be depicted as revolute joints, allowing the arms to be flexible.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Morphed Multi-Rotor Vehicles with Real-Time Obstacle Detection and Sensing System

Shiferaw

Esakki

Pari

et al. 2021

Sensors

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Multirotor unmanned aerial vehicles (MUAVs) are becoming more prominent for diverse real-world applications due to their inherent hovering ability, swift manoeuvring and vertical take-off landing capabilities. Nonetheless, to be entirely applicable for various obstacle prone environments, the conventional MUAVs may not be able to change their configuration depending on the available space and perform designated missions. It necessitates the morphing phenomenon of MUAVS, wherein it can alter their geometric structure autonomously. This article presents the development of a morphed MUAV based on a simple rotary actuation mechanism capable of driving each arm’s smoothly and satisfying the necessary reduction in workspace volume to navigate in the obstacle prone regions. The mathematical modelling for the folding mechanism was formulated, and corresponding kinematic analysis was performed to understand the synchronous motion characteristics of the arms during the folding of arms. Experiments were conducted by precisely actuating the servo motors based on the proximity ultrasonic sensor data to avoid the obstacle for achieving effective morphing of MUAV. The flight tests were conducted to estimate the endurance and attain a change in morphology of MUAV from “X-Configuration” to “H-Configuration” with the four arms actuated synchronously without time delay.

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Design, Planning, and Control of an Origami-inspired Foldable Quadrotor

Cited by 25 publications

References 17 publications

Collision Recovery Control of a Foldable Quadrotor

Collision Recovery Control of a Foldable Quadrotor

Towards reconfigurable and flexible multirotors

Design and Implementation of Morphed Multi-Rotor Vehicles with Real-Time Obstacle Detection and Sensing System

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