イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2023/03
形態種別	学術雑誌
査読	査読あり
標題	Design and Experimental Verification of a Hoverable Quadrotor Composed of Only Clockwise Rotors
執筆形態	共著(筆頭者以外)
掲載誌名	Advanced Robotics
掲載区分	国外
出版社・発行元	The Robotics Society of Japan (RSJ)
巻・号・頁	37(10),pp.667-678
総ページ数	12
著者・共著者	Takumi Ito, Riku Funada, Shusuke Mochida, Takahiro Kawagoe, Tatsuya Ibuki, Mitsuji Sampei
概要	This paper presents a novel structure for a quadrotor, making it hover only with clockwise rotors, where we denote it as a 4P (Positive) rotor. We first investigate the condition for a 4P rotor to hover. More specifically, we conduct the hoverability analysis, which is closely related to the controllability analysis, and show that the tilting angles of each rotor are crucial conditions for the hoverability of the 4P rotor. The derived condition for the tilting angles is then utilized to present two prototypes. Each prototype is developed with the following design purposes: One is to reduce the horizontal force generated by the tilted rotors, and the other is to make its torque generation the same as that of a standard quadrotor. The hoverability and dynamical property of both prototype is demonstrated in simulations and experiments.