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Spacecraft Robot Kinematics Using Dual Quaternions

Design and Implementation of a Dual-Axis Tilting Quadcopter

Department of Mechanical Engineering, KU Leuven, 3000 Leuven, Belgium
Faculty of Science, Engineering and Computing, Kingston University London, London SW15 3DW, UK
Department of Mechanical Engineering, University of South Carolina, Columbia, SC 29208, USA
Khalifa University Center for Autonomous Robotic Systems, Department of Aerospace Engineering, Khalifa University of Science and Technology, P.O. Box 127788 Abu Dhabi, UAE
Author to whom correspondence should be addressed.
Robotics 2018, 7(4), 65;
Received: 7 August 2018 / Revised: 13 October 2018 / Accepted: 18 October 2018 / Published: 20 October 2018
(This article belongs to the Special Issue Kinematics and Robot Design I, KaRD2018)
Standard quadcopters are popular largely because of their mechanical simplicity relative to other hovering aircraft, low cost and minimum operator involvement. However, this simplicity imposes fundamental limits on the types of maneuvers possible due to its under-actuation. The dexterity and fault tolerance required for flying in limited spaces like forests and industrial infrastructures dictate the use of a bespoke dual-tilting quadcopter that can launch vertically, performs autonomous flight between adjacent obstacles and is even capable of flying in the event of the failure of one or two motors. This paper proposes an actuation concept to enhance the performance characteristics of the conventional under-actuated quadcopter. The practical formation of this concept is followed by the design, modeling, simulation and prototyping of a dual-axis tilting quadcopter. Outdoor flight tests using tilting rotors, to follow a trajectory containing adjacent obstacles, were conducted in order to compare the flight of conventional quadcopter with the proposed over-actuated vehicle. The results show that the quadcopter with tilting rotors provides more agility and mobility to the vehicle especially in narrow indoor and outdoor infrastructures. View Full-Text
Keywords: aerial robotics; quadcopters; UAVs; dual-tilting; tilting rotors; over-actuation; flight control; rotorcraft aerial robotics; quadcopters; UAVs; dual-tilting; tilting rotors; over-actuation; flight control; rotorcraft
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MDPI and ACS Style

Bin Junaid, A.; Diaz De Cerio Sanchez, A.; Betancor Bosch, J.; Vitzilaios, N.; Zweiri, Y. Design and Implementation of a Dual-Axis Tilting Quadcopter. Robotics 2018, 7, 65.

AMA Style

Bin Junaid A, Diaz De Cerio Sanchez A, Betancor Bosch J, Vitzilaios N, Zweiri Y. Design and Implementation of a Dual-Axis Tilting Quadcopter. Robotics. 2018; 7(4):65.

Chicago/Turabian Style

Bin Junaid, Ali, Alejandro Diaz De Cerio Sanchez, Javier Betancor Bosch, Nikolaos Vitzilaios, and Yahya Zweiri. 2018. "Design and Implementation of a Dual-Axis Tilting Quadcopter" Robotics 7, no. 4: 65.

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