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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.
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https://hal.inria.fr/hal-00910823
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Submitted on : Thursday, November 28, 2013 - 11:53:08 AM
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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⟩

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