Design and Control of a Midair-Reconfigurable Quadcopter Using Unactuated Hinges

  title={Design and Control of a Midair-Reconfigurable Quadcopter Using Unactuated Hinges},
  author={Nathan Bucki and Jerry Tang and Mark Wilfried Mueller},
  journal={IEEE Transactions on Robotics},
In this article, a novel quadcopter capable of changing shape midflight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accomplished without requiring actuators beyond the four motors typical of a quadcopter. Morphing is achieved through freely rotating hinges that allow the vehicle arms to fold downwards by either reducing or reversing thrust forces. Constraints placed on the control inputs of the vehicle prevent the arms… 

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