The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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System for Leveling Landing Surface in Response to Changes in Quadcopter Posture

쿼드콥터 자세 변화에 대응한 착륙 접지면 수평 유지 시스템

  • Received : 2021.02.06
  • Accepted : 2021.03.18
  • Published : 2021.05.31
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Abstract

In this paper, we propose a four 2-link robotic leg landing system that is used for leveling the bottom of the landing system, even when the quadcopter posture is changed. The case of conventional skid type landing gear has a risk when the quadcopter lands on a moving vehicle because the skid type landing gear is tilted to the landing site at this situation. To solve this problem, it is necessary to level the bottom of the landing system when the quadcopter posture is changed in the flight. Therefore, the proposed landing system used a four 2-link robotic leg with leveling method. The leveling method was derived from the method of determining a plane. The superiority of the proposed system was verified with 6-axis stewart platform and real flight experiment, and it shows feasibility of leveling method and proposed landing system.

Keywords

Acknowledgement

This research was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIT) (No. 2019R1A2C2088859); This research was funded and conducted under 『the Competency Development Program for Industry Specialists』 of the Korean Ministry of Trade, Industry and Energy (MOTIE), operated by Korea Institute for Advancement of Technology (KIAT). (No. P0008473, The development of high skilled and innovative manpower to lead the Innovation based on Robot)

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