3649 Development of Flying Robot Capable of Hovering
Shiro KUWAHARA, Sho Ito, Shoji Machida, Hun‐ok Lim · The proceedings of the JSME annual meeting · 2008
This paper presents structure and control of a coaxial double contra-rotating rotor system flying robot. The flying robot consists of a rotor, a body and a leg part. There are three motors: two motors are employed to control two rotor blades, and one motor is used to control the center of mass. In addition, an ultrasonic sensor is installed under the body part of measure flight height, and a gyro sensor is attached at the body part to measure the direction of rotation of the body. The rotational speed of the motors is controlled by the basic pulse width modulation (PWM) method. Through flight experiments using the flying robot, the effectiveness of mechanism and control system is verified.