1A2-P05 A VTOL Aerial Robot with Four Rotors : Design and Production of a Airframe and Flight Experiments(Aerial Robot and Mechatronics)
Hirotaro Iwabe, Isaku Nagai, Keigo Watanabe · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
VTOL aerial robots called "X4-Flyer" has an advantage that the mobility and maneuverability are high, compared to other types of VTOL aerial robots. However, it is not easy for the X4-Flyer to design a controller in an underactuated system that controls six generalized coordinates with four inputs. Moreover, several parameters such as the airframe weight, the generated thrust, etc. are required to implement a dynamical control law. Therefore, it is necessary to design a desirable controller by actually constructing an X4-Flyer and obtaining main parameters through the measurement experiments. In the present study, an actual X4-Flyer is designed and produced, and it aims at developing the robot that is able to fly autonomously. In particular, thrust experiments of a rotor and take-off experiments of the airframe are reported.