First flight tests for a quadrotor UAV with tilting propellers

Markus Ryll; Heinrich H. Bulthoff; Paolo Robuffo Giordano

doi:10.1109/ICRA.2013.6630591

First flight tests for a quadrotor UAV with tilting propellers

Markus Ryll, Heinrich H. Bulthoff, Paolo Robuffo Giordano

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

80 Scopus citations

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 underactuation (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 specifications 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.

Original language	English
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages	295-302
Number of pages	8
DOIs	https://doi.org/10.1109/ICRA.2013.6630591
State	Published - 2013
Externally published	Yes
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

Access to Document

10.1109/ICRA.2013.6630591

Cite this

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title = "First flight tests for a quadrotor UAV with tilting propellers",

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 underactuation (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 specifications 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.",

author = "Markus Ryll and Bulthoff, {Heinrich H.} and Giordano, {Paolo Robuffo}",

year = "2013",

doi = "10.1109/ICRA.2013.6630591",

language = "English",

isbn = "9781467356411",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "295--302",

booktitle = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013",

note = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",

}

Ryll, M, Bulthoff, HH & Giordano, PR 2013, First flight tests for a quadrotor UAV with tilting propellers. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6630591, Proceedings - IEEE International Conference on Robotics and Automation, pp. 295-302, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13. https://doi.org/10.1109/ICRA.2013.6630591

First flight tests for a quadrotor UAV with tilting propellers. / Ryll, Markus; Bulthoff, Heinrich H.; Giordano, Paolo Robuffo.
2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 295-302 6630591 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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 underactuation (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 specifications 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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BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013

T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013

Y2 - 6 May 2013 through 10 May 2013

ER -

First flight tests for a quadrotor UAV with tilting propellers

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