In this paper, we introduce a new quadcopter fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a regular multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the T3-Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the nominal flight performance. A dedicated control structure is introduced, along with a detailed analysis of the dynamic characteristics of the platform that change during emergency flights. Experimental results are provided to validate the feasibility of the proposed fail-safe flight strategy.
A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained by a PID controller that is independent from the inner and outer controllers. A PID controller on propeller force deviations from equilibrium was augmented to the inner controller of the three-propeller architecture. Both architectures used LQR for the inner attitude controller and a damped second order outer controller that zeroes the error along the horizon…
A Learning-based Quadcopter Controller with Extreme Adaptation
High Performance Robotics Lab, Dept. of Mechanical Engineering, UC Berkeley（伯克利大学高性能机器人实验室，机械工程系）；University of Pennsylvania（宾夕法尼亚大学）；Dept. of Electrical Engineering and Computer Science, University of California at Berkeley（伯克利大学电子工程与计算机科学系）
The conceptual design and flight controller of a novel kind of quadcopter are presented. This design is capable of morphing the shape of the UAV during flight to achieve position and attitude control. We consider a dynamic center of gravity (CoG) which causes continuous variation in a moment of inertia (MoI) parameters of the UAV in this design. These dynamic structural parameters play a vital role in the stability and control of the system. The length of quadcopter arms is a variable parameter, and it is actuated using attitude feedback-based control law. The MoI parameters are computed in re…
Electrical and Electronics Engineering Institute, College of Engineering, University of the Philippines（菲律宾大学工程学院电气与电子工程研究所）
To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular speed to a certain level of accuracy. Thrust-torque modeling requires an expensive reaction torque measurement sensor. In the absence of sophisticated equipment, the study comes up with alternative methods to complete the quadcopter model. The study also presents a method of modeling the rotational aerodynamic drag on the quadcopter. Although the resulting mod…
Indian Institute of Technology Roorkee（印度理工学院鲁尔基分校）
The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most efficient manner, which served as the source of motivation for this project. Skeletal and Musculoskeletal human models were considered for motions in the sagittal plane, and results from both were compared exhaustively. While skeletal models are driven with motor actuation, musculoskeletal models perform through muscle-tendon actuation. Model-free reinforcement learning algorithms were used to optimize inverse dynamics c…
The use of Unmanned Aerial Vehicles (UAVs) as a substitute for ordinary vehicles in applications of search and rescue is being studied all over the world due to its flexible mobility and less obstruction, including two main tasks: search and rescue. This paper proposes an approach for the first task of searching and detecting victims using a type of convolutional neural network technique, the Single Shot Detector (SSD) model, with the Quadcopter hardware platform, a type of UAVs. The model used in the research is a pre-trained model and is applied to test on a Raspberry Pi model B, which is at…
We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this machine will achieve varied modes of quasistatic and dynamic balance, enabling a broad range of locomotion tasks including sitting, standing, walking, hopping, running, turning, leaping, and more. Achieving this diversity of behavior with a single under-actuated body, requires a correspondingly diverse array of controllers, motivating our interest in compositional techniques that promote mixing and reuse of a relatively few base constituents to achieve a combinatorially g…
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
College of Information and Computer Sciences, University of Massachusetts Amherst（大学计算机科学学院，马萨诸塞大学阿默斯特分校）；University of Maryland College Park（马里兰大学学院公园分校）；College of Engineering, University of Massachusetts Amherst（工程学院，马萨诸塞大学阿默斯特分校）；Korea University of Technology and Education (KOREATECH)（韩国技术教育大学（KOREATECH））
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction
University of Naples Federico II（那不勒斯费德里克二世大学）；CATEC, Advanced Center for Aerospace Technologies（CATEC高级航空技术中心）；Technical University of Denmark（丹麦技术大学）；University of Seville（塞维利亚大学）
