2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) 2020
DOI: 10.1109/ssrr50563.2020.9292586
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An Agile, Coaxial, Omnidirectional Rotor Module: On the Development of Hybrid, All Terrain Robotic Rotorcrafts

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Cited by 6 publications
(7 citation statements)
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References 27 publications
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“…This enabled PULSAR to perform challenging tasks like avoiding highspeed dynamic obstacles, which are possible only in quadrotor UAVs (46,47) to date. For existing self-rotation UAVs (20)(21)(22)(23)(24)(25)(26)(27)(28)(29)(30)(31)(32)(33) and other underactuated UAVs with fewer than four propellers (40,(48)(49)(50)(51)(52), the main focuses were on design concept, vehicle configuration, and flying feasibility, whereas agility and the ability to avoid dynamic obstacles were not considered or demonstrated. Only the dSAW proposed in (28) demonstrated an agile motion that involved only unpowered diving.…”
Section: Agilitymentioning
confidence: 99%
“…This enabled PULSAR to perform challenging tasks like avoiding highspeed dynamic obstacles, which are possible only in quadrotor UAVs (46,47) to date. For existing self-rotation UAVs (20)(21)(22)(23)(24)(25)(26)(27)(28)(29)(30)(31)(32)(33) and other underactuated UAVs with fewer than four propellers (40,(48)(49)(50)(51)(52), the main focuses were on design concept, vehicle configuration, and flying feasibility, whereas agility and the ability to avoid dynamic obstacles were not considered or demonstrated. Only the dSAW proposed in (28) demonstrated an agile motion that involved only unpowered diving.…”
Section: Agilitymentioning
confidence: 99%
“…Vehicles with both ground and aerial locomotion capabilities are appealing precisely because of the extended autonomy the ground mode can provide. Such hybrid capabilities are achieved with many approaches, with most falling into the following: i) passive wheels [5], [6], [23]- [26], ii) passive rotating cage [3], [27]- [29], iii) active wheels [4], [30]- [33], or active legs [34], [35]. The passive rotating structures are likely the most lightweight and simple solution to turn an aerial vehicle into a hybrid one.…”
Section: Related Workmentioning
confidence: 99%
“…The four configurations are flight in both the inverted and normal pose, ground operation in both the inverted and normal pose, and the process is the recovery action that can bring the vehicle from any non-operational state to its normal, ground pose. The concept achieves continuous omnidirectional thrust vectoring employing a rotor-on-gimbal mechanism [5], [6]. In particular, a coaxial rotor is placed inside a gimbal mechanism that has two perpendicular rotating actuated Degree of Freedom (DoF), represented by the blue arrows.…”
Section: Introductionmentioning
confidence: 99%
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“…J. Buzzatto et al, in their paper, propose a novel design of an agile, coaxial, omnidirectional rotor module that can move and exert forces in all directions without limitations on orientation and wiring. This independent rotor unit presents high mobility and manoeuvrability, high fight autonomy, and offers high potential for all-terrain robotic manipulation applications [9]. A. Chico et al focus on solving the trajectory tracking problem for the UR5 robot using two different control strategies: a minimum norm PID and a controller based on linear algebra.…”
Section: Introductionmentioning
confidence: 99%