空中舞动，自由如云

发布时间：2025-07-08 19:46:21  浏览量：1

Two-dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller。

Moju Zhao，Tomoki Anzai，Kei Okada，Masayuki。

Singularity-free Aerial Deformation by Our Goal：Achievement of Singularity-free Flight for 2D Multilinked Aerial robot。

Singular Forms：Type1：lost torque controllability。Type2：lost torque controllability。

around the striaght line，around the yaw axis。

1-DoF Yaw Vectorable Propeller Module：

1-DoF yaw vecotrable propeller，singularity-free flight control。

- vectoring axis perpendicular to link rod。

- tited rotor mount to generate laretal force。

- planner for vectoring angles。

Hovering Under Challenging Forms：These forms will be singular without the vectorable propellers.

Circular Trajectory Tracking Under Line-shape Form。

Large Scale Deformation。