Attitude control

Chemistry

Transformation (genetics)

Thrust vectoring

Robot

Engineering

Artificial intelligence

Economics

Biochemistry

Control engineering

Gimbal

Aerospace engineering

Gene

Center of gravity

Management

Rotor (electric)

Computer science

Control (management)

Thrust

Control theory (sociology)

Mechanical engineering

IEEE Robotics and Automation Letters

In this letter, we introduce a novel transformable aerial robot called DRAGON, which is a dual-rotor-embedded multilink robot with the ability of multi-degree-of-freedom (DoF) aerial transformation. The new aerial robot can control the full pose in SE(3) regarding the center of gravity (CoG) of multilinks and can render the multi-DoF aerial transformation, which is accomplished by the original two-DoF force vectoring mechanism on each link called the dual-rotor gimbal module. The dynamics is derived on the basis of the special definition of CoG orientation, followed by a control method decoupled into thrust force control and rotor gimbal control. In the thrust force control, the minimum force norm is considered to avoid force saturation, and the rotor gimbal control method is developed to enhance both translational and rotational stabilities during hovering and large-scale aerial transformation. The prototype composed of four links is constructed, and associated preliminary experiments are performed. The feasibility of the novel mechanical design and the proposed control method for the aerial transformation is demonstrated.

Design, Modeling, and Control of an Aerial Robot DRAGON: A Dual-Rotor-Embedded Multilink Robot With the Ability of Multi-Degree-of-Freedom Aerial Transformation