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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2508.02022 |
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| _version_ | 1866908477733994496 |
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| author | Yeh, Tingyu Xu, Mengxin Han, Lijun |
| author_facet | Yeh, Tingyu Xu, Mengxin Han, Lijun |
| contents | In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms connect the motor bases to the central frame, forming a parallelogram structure that ensures the propellers maintain a constant orientation during morphing. In its stretched state, the quadrotor resembles a conventional design, and when contracted, it functions as a gripper with grasping components emerging from the motor bases. To mitigate disturbances during transforming and grasping payloads, we employ an adaptive sliding mode controller with a disturbance observer. After fully folded, the quadrotor frame shrinks to 67% of its original size. The control performance and versatility of the morphing quadrotor are validated through real-world experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_02022 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design and Control of an Actively Morphing Quadrotor with Vertically Foldable Arms Yeh, Tingyu Xu, Mengxin Han, Lijun Robotics In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms connect the motor bases to the central frame, forming a parallelogram structure that ensures the propellers maintain a constant orientation during morphing. In its stretched state, the quadrotor resembles a conventional design, and when contracted, it functions as a gripper with grasping components emerging from the motor bases. To mitigate disturbances during transforming and grasping payloads, we employ an adaptive sliding mode controller with a disturbance observer. After fully folded, the quadrotor frame shrinks to 67% of its original size. The control performance and versatility of the morphing quadrotor are validated through real-world experiments. |
| title | Design and Control of an Actively Morphing Quadrotor with Vertically Foldable Arms |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.02022 |