HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

First Flight Tests for a Quadrotor UAV with Tilting Propellers

Markus Ryll 1 Heinrich H Bülthoff 1, 2 Paolo Robuffo Giordano 1, 3
3 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : In this work we present a novel concept of a quadrotor UAV with tilting propellers. Standard quadrotors are limited in their mobility because of their intrinsic underac- tuation (only 4 independent control inputs vs. their 6-dof pose in space). The quadrotor prototype discussed in this paper, 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 illustrate the hardware/software specifi- cations of our recently developed prototype, and then report the experimental results of some preliminary, but promising, flight tests which show the capabilities of this new UAV concept.
Document type :
Conference papers
Complete list of metadata

Cited literature [11 references]  Display  Hide  Download

Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Thursday, November 28, 2013 - 11:53:08 AM
Last modification on : Thursday, January 20, 2022 - 4:20:34 PM
Long-term archiving on: : Monday, March 3, 2014 - 5:45:38 PM


Files produced by the author(s)



Markus Ryll, Heinrich H Bülthoff, Paolo Robuffo Giordano. First Flight Tests for a Quadrotor UAV with Tilting Propellers. IEEE Int. Conf. on Robotics and Automation, ICRA 2013, May 2013, Karlsruhe, Germany. pp.295-302, ⟨10.1109/ICRA.2013.6630591⟩. ⟨hal-00910823⟩



Record views


Files downloads