Ring-Rotor: A Novel Retractable Ring-Shaped Quadrotor With Aerial Grasping and Transportation Capability
نویسندگان
چکیده
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length width simultaneously. Unlike other morphing quadrotors with high platform complexity poor controllability, uses only one servo motor for but reduces largest dimension of vehicle by approximately 31.4%. It guarantee passibility while flying through small spaces in its compact form energy saving standard form. Meanwhile, breaks cross configuration general four arms connected to central body innovates mechanical structure spare space. Based on this, an ingenious whole-body aerial grasping transportation scheme is designed carry various shapes objects without external manipulator mechanism. Moreover, we exploit nonlinear model predictive control (NMPC) strategy time-variant physical parameter adapt morphology. Above mentioned applications are performed real-world experiments demonstrate system's versatility.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2023
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2023.3245499