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Thread: Omnicopter, omni-directional six degrees-of-freedom flying machine, Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland

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    Omnicopter, omni-directional six degrees-of-freedom flying machine, Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland


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    The Omnicopter

    Published on Aug 8, 2016

    The Omnicopter - an omni-directional six degrees-of-freedom flying machine

    In this video, we present a novel six degrees-of-freedom aerial vehicle. Based on a static force and torque analysis for generic actuator configurations, we have derived an eight-rotor configuration that maximizes the vehicle's agility in all directions. The resulting vehicle possesses full force and torque authority in all three dimensions, allowing it to fly novel maneuvers. For more details, please refer to the research paper "Design, Modeling and Control of an Omni-Directional Aerial Vehicle", IEEE International Conference on Robotics and Automation (ICRA), 2016

    * Researchers
    Dario Brescianini and Raffaello D'Andrea
    Institute for Dynamic Systems and Control (IDSC), ETH Zurich, Switzerland

    * Location
    Flying Machine Arena, ETH Zurich, Switzerland - http://www.flyingmachinearena.org

    * Technical details
    Size: 0.45m x 0.45m x 0.45m
    Weight: 0.886kg
    Electronics: Custom design using a Cortex M4F microprocessor
    Battery: Thunder Power TP1800-4SM70
    Motors: MRM Titan 2208-1100
    Motor controllers: Dys SN20A Mini with SimonK firmware.
    Propellers: Graupner 3D 8x4.5
    Infrastructure: Flying Machine Arena

    * Acknowledgements
    This work is supported by and builds upon prior contributions by numerous collaborators in the Flying Machine Arena project. See http://www.flyingmachinearena.org/people.
    This research was supported by the Swiss National Science Foundation (SNSF).

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    Fetching Omnicopter

    Published on May 16, 2017

    We have developed a computationally efficient trajectory generator for six degrees-of-freedom multirotor vehicles, i.e. vehicles that can independently control their position and attitude. The trajectory generator is capable of generating approximately 500'000 trajectories per second that guide the multirotor vehicle from any initial state, i.e. position, velocity and attitude, to any desired final state in a given time. In this video, we show an example application that requires the evaluation of a large number of trajectories in real time.

    * Multirotor vehicle
    The multirotor vehicle used in the demonstration is an omni-directional eight-rotor vehicle. Its unique actuator configuration gives it full force and torque authority in all three dimensions, allowing it to fly novel maneuvers.

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