Fully Actuated Drone with Non-Isotropic Wrench Shape
An energy efficient fully actuated drone designed for directional aerial contact forces.
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An energy efficient fully actuated drone designed for directional aerial contact forces.
Overview
Conventional fully actuated drones often tilt their propellers symmetrically, producing an isotropic wrench shape that can waste energy during directional contact tasks. This project begins with the force and torque set required for aerial contact manipulation and incorporates it directly into the vehicle design optimization.
The optimized non-isotropic configuration preserves the required wrench capability while reducing hovering energy. In simulation, it more than doubled hovering efficiency and improved contact force efficiency by nearly 1.4 times compared with a typical fully actuated design.
Video
Publication
S. Park and M. J. Kim, “Design of a Fully Actuated Drone with Non-Isotropic Wrench Shape,” IEEE/RSJ IROS, 2024. IEEE