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research-article

The Hexapodopter: a hybrid flying hexapod - Holonomic flying analysis

[+] Author and Article Information
Daniel Soto

Ph.D. Student at Cinvestav Tamaulipas, Cd. Victoria, Tamaulipas, 87130, México
dsoto@tamps.cinvestav.mx

José Gabriel Ramírez Torres

Professor at Cinvestav Tamaulipas, Cd. Victoria, Tamaulipas, 87130, México
grtorres@tamps.cinvestav.mx

1Corresponding author.

ASME doi:10.1115/1.4040631 History: Received May 17, 2017; Revised June 18, 2018

Abstract

The purpose of this document is to introduce the Hexapodopter, a six legged walking machine capable of vertical take-off}and landing (VTOL). For walking, each of the limbs has two degrees of freedom (DoF): swing and lift; in order to provide locomotion. The thrust required for flight is provided by six motors mounted close to every knee so the thrust vector can be reoriented and depends on the configuration of each limb. The capacity of reorienting the thrust forces makes the Hexapodopter a true holonomic vehicle, capable of individually controlling its 6 degrees of freedom on the air without reorientating any of the thrust motors nor the body. The main design criteria and validation will be discussed on this article, as well as a control law for the vehicle.

Copyright (c) 2018 by ASME
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