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Fractal Copter: Large, High-Payload, Low-Hazard Aerial Robot with Recursive Thrust Structures

Research Project

Project/Area Number 20K04408
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionTohoku University (2022-2023)
Institute of Physical and Chemical Research (2020-2021)

Principal Investigator

Okada Yoshito  東北大学, タフ・サイバーフィジカルAI研究センター, 准教授 (10713000)

Project Period (FY) 2020-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2022: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2021: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2020: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Keywords飛行ロボット / マルチコプタ / 再帰推力構造 / モジュラーロボット / ドローン
Outline of Research at the Start

再帰推力構造の大型・高積載・低危害のマルチコプタの構成法および制御法を確立し,人間が搭乗できる空飛ぶじゅうたんレベルの可搬重量および安定性を実現する.再帰推力構造のマルチコプタは,『マルチコプタを推力とするマルチコプタ』の繰り返し構造として構成される.本研究ではまず,危害性の低い小型マルチコプタ用部品で繰り返し構造を構築するための構成法を明らかにする.また,超多ロータで人間等の動物体を安定に浮上させるための制御法も研究する.

Outline of Final Research Achievements

Recursive thrust structures for a large, high-payload, low-hazard aerial robot were researched. Specifically, simulations and a physical model of an aerial robot constructed with a recursive structure of 'multicopters powered by multicopters' were developed. Flight control for the recursive structure was also devised and implemented, confirming stable flight. Furthermore, a method to probabilistically integrate the measurements from multiple sensors recursively placed within the structure to obtain more accurate estimates was studied. In simulations, it was confirmed that integrating measurements from multiple inertial sensors enables highly accurate state estimation of the aerial robot.

Academic Significance and Societal Importance of the Research Achievements

インフラ点検や物流,災害対応といったアプリケーションにおいて,大型・高積載の飛行ロボット(ドローン)が求められている.一方でそのようなドローンを少数の大径ロータで構成した場合,ロータ1つ当たりの出力が大きくなるため,事故時の危害性が高くなってしまう.本研究は多数の低出力ロータを用いて大型・高積載の飛行ロボットを構成・制御するための研究であり,社会的意義が大きい.また,大型飛行ロボットの構成法に関する研究はほとんど行われておらず,学術的意義も大きい.

Report

(5 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Research-status Report
  • 2021 Research-status Report
  • 2020 Research-status Report
  • Research Products

    (1 results)

All 2021

All Presentation (1 results)

  • [Presentation] Multi-UAV scalable platform for heavy load transportation2021

    • Author(s)
      Pongsakorn Songsuroj, Yoshito Okada, Kazunori Ohno, Satoshi Tadokoro
    • Organizer
      ロボティクス・メカトロニクス 講演会 2021
    • Related Report
      2020 Research-status Report

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Published: 2020-04-28   Modified: 2025-01-30  

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