Singularity-Free Aerial Deformation by Two-Dimensional Multilinked Aerial Robot With 1-DoF Vectorable Propeller

Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types singular forms must be avoided during deformation. Hence, an additional 1 Degrees-of-Freedom (DoF) vectorable propeller is employed this work to overcome by properly changing the thrust direction. In paper, we first extend modeling control methods from our previous works for under-actuated model whose forces are not unidirectional. We then propose a planning method vectoring angles solve singularity maximizing controllability under arbitrary robot forms. Finally, demonstrate feasibility proposed experiments where quad-type used perform trajectory tracking challenging forms, such as line-shape form, passing these