쿼드콥터 자세 변화에 대응한 착륙 접지면 수평 유지 시스템
System for Leveling Landing Surface in Response to Changes in Quadcopter Posture
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In this paper, we propose a four 2-link robotic leg landing system that is used for leveling the bottom of the landing system, even when the quadcopter posture is changed. The case of conventional skid type landing gear has a risk when the quadcopter lands on a moving vehicle because the skid type landing gear is tilted to the landing site at this situation. To solve this problem, it is necessary to level the bottom of the landing system when the quadcopter posture is changed in the flight. Therefore, the proposed landing system used a four 2-link robotic leg with leveling method. The leveling method was derived from the method of determining a plane. The superiority of the proposed system was verified with 6-axis stewart platform and real flight experiment, and it shows feasibility of leveling method and proposed landing system
Abstract
In this paper, we propose a four 2-link robotic leg landing system that is used for leveling the bottom of the landing system, even when the quadcopter posture is changed. The case of conventional skid type landing gear has a risk when the quadcopter lands on a moving vehicle because the skid type landing gear is tilted to the landing site at this situation. To solve this problem, it is necessary to level the bottom of the landing system when the quadcopter posture is changed in the flight. Therefore, the proposed landing system used a four 2-link robotic leg with leveling method. The leveling method was derived from the method of determining a plane. The superiority of the proposed system was verified with 6-axis stewart platform and real flight experiment, and it shows feasibility of leveling method and proposed landing system
참고문헌 (17)
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