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

In this article, a novel quadcopter capable of changing shape midflight is presented, allowing for operation in four configurations with the capability sustained hover three. This accomplished without requiring actuators beyond motors typical quadcopter. Morphing achieved through freely rotating hinges that allow vehicle arms to fold downwards by either reducing or reversing thrust forces. Constraints placed on control inputs prevent from folding unfolding unexpectedly. allows use existing controllers and trajectory generation algorithms only minimal added complexity. For our experimental at hover, we find these constraints result 36% reduction maximum yaw torque can produce, but do not roll pitch torques. Experimental results show that, maneuver, limits have negligible effect tracking performance. Finally, ability change shown enable traverse small passages, perch hanging wires, perform limited grasping tasks.