This paper proposes a method to investigate into helicopter landing on uneven terrain by means of using a scaled articulated robotic landing gear. A mathematical model of an articulated robotic landing gear that adapts to uneven ground conditions is considered. The model consists of a planar landing gear composed of two legs connected by a base and a skid at each end. Each skid has two degrees of freedom with PID joint controllers to provide stability while landing. A combination of Lagrange and Newton-Euler techniques is used to model the system dynamics. This work also includes a model of the ground interaction, a thrust controller and a level controller to maintain stability while landing. Experimental results with a laboratorybuild scaled prototype are included and compared with the simulations.

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In this paper, a 3D mathematical model of a helicopter attached to a robotic landing gear is proposed to investigate into helicopter landing on uneven terrain. The landing gear consists of four articulated legs connected to the he licopter fuselage. Each leg has two revolute joints governed by PID joint controllers to generate motion with two degrees of freedom (DoF). A combination of Lagrange and Newton-Euler techniques is used to model the system dynamics, its motion and joint torques. A contact model is introduced to simulate ground interaction forces and a level controller that use s a PI algorithm to maintain the main body desired attitude when landing in two-axes slopes. Simulation results are compare d to a second model de signed using the SimMechanics toolbox for validation purpose.

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