Minimally Actuated Tiltrotor for Perching and Normal Force Exertion
Dongjae Lee,Sunwoo Hwang,Changhyeon Kim,Seung Jae Lee,H. Jin Kim,Dongjae Lee,Sunwoo Hwang,Changhyeon Kim,Seung Jae Lee,H. Jin Kim
This study presents a new hardware design and control of a minimally actuated 5 control degrees of freedom (CDoF) quadrotor-based tiltrotor. The proposed tiltrotor possesses several characteristics distinct from those found in existing works, including: 1) minimal number of actuators for 5 CDoF, 2) large margin to generate interaction force during aerial physical interaction (APhI), and 3) no mech...
