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Title
Japanese: 
English:Design and experimental verification of a hoverable quadrotor composed of only clockwise rotors 
Author
Japanese: 伊藤 匠, 舩田 陸, 持田 峻佑, 川越 貴啓, 伊吹 竜也, 三平 満司.  
English: Takumi Ito, Riku Funada, Shunsuke Mochida, Takahiro Kawagoe, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Advanced Robotics 
Volume, Number, Page Vol. 37    No. 10    pp. 667-678
Published date Mar. 10, 2023 
Publisher
Japanese: 
English:Taylor & Francis 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Official URL https://www.tandfonline.com/doi/full/10.1080/01691864.2023.2185813
 
DOI https://doi.org/10.1080/01691864.2023.2185813
Abstract 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.

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