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Fig 5 - Downwash-aware Control Allocation for Over-actuated UAV Platforms

Fig. 5: Hardware prototypes of the over-actuated UAV platforms. The central frame is a rigid body made by carbon-fiber tubes and 3-D printed parts. Commercial quadcopter Crazyflie 2.1 from Bitcraze is combined with 3-D printed 2-DoF passive gimbal mechanism as the 3-DoF thrust generator. The platforms have (a) four and (b) six thrust generators, respectively. Motor, propellers, and batteries are upgraded to generate larger thrust forces.
Hardware prototypes of the over-actuated UAV platforms. The central frame is a rigid body made by carbon-fiber tubes and 3-D printed parts. Commercial quadcopter Crazyflie 2.1 from Bitcraze is combined with 3-D printed 2-DoF passive gimbal mechanism as the 3-DoF thrust generator. The platforms have (a) four and (b) six thrust generators, respectively. Motor, propellers, and batteries are upgraded to generate larger thrust forces.
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