Systems and methods for an origami-inspired foldable quad-rotor
US11518489B2 · kind B2 · utility
1Cited by
4References
20Claims
0Family size
Assignee
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Key dates
| Filing date | Mar 26, 2020 |
| Grant date | Dec 6, 2022 |
| Priority date | — |
| Expiry date | Mar 18, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB64U10/14
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Various embodiments for a foldable quad-rotor (FQR) inspired by an origami mechanism are disclosed herein. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.