Corpus ID: 212633846

A collision-resilient aerial vehicle with icosahedron tensegrity structure

@article{Zha2020ACA,
  title={A collision-resilient aerial vehicle with icosahedron tensegrity structure},
  author={Jiaming Zha and Xiangyu Wu and Joseph Kroeger and N. Perez and Mark W. Mueller},
  journal={ArXiv},
  year={2020},
  volume={abs/2003.03417}
}

Jiaming Zha, Xiangyu Wu, +2 authors Mark W. Mueller

Published 2020

Computer Science

ArXiv

Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology used to design a collision resilient aerial vehicle with icosahedron tensegrity structure. A simplified stress analysis of the tensegrity frame under impact forces is performed to guide the selection of its components. In addition, an autonomous controller is presented to reorient the vehicle from an arbitrary… CONTINUE READING

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