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Published on Aug 8, 2016
The Omnicopter - an omni-directional six degrees-of-freedom flying machine
In this video, we present a novel six degrees-of-freedom aerial vehicle. Based on a static force and torque analysis for generic actuator configurations, we have derived an eight-rotor configuration that maximizes the vehicle's agility in all directions. The resulting vehicle possesses full force and torque authority in all three dimensions, allowing it to fly novel maneuvers. For more details, please refer to the research paper "Design, Modeling and Control of an Omni-Directional Aerial Vehicle", IEEE International Conference on Robotics and Automation (ICRA), 2016: http://flyingmachinearena.org/wp-cont....
* Researchers Dario Brescianini and Raffaello D'Andrea Institute for Dynamic Systems and Control (IDSC), ETH Zurich, Switzerland - http://www.idsc.ethz.ch
* Technical details Size: 0.45m x 0.45m x 0.45m Weight: 0.886kg Electronics: Custom design using a Cortex M4F microprocessor Battery: Thunder Power TP1800-4SM70 Motors: MRM Titan 2208-1100 Motor controllers: Dys SN20A Mini with SimonK firmware. Propellers: Graupner 3D 8x4.5 Infrastructure: Flying Machine Arena
* Acknowledgements This work is supported by and builds upon prior contributions by numerous collaborators in the Flying Machine Arena project. See http://www.flyingmachinearena.org/people. This research was supported by the Swiss National Science Foundation (SNSF).