The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 06, 2022
Filed:
Mar. 26, 2020
Wenlong Zhang, Tempe, AZ (US);
Dangli Yang, Tempe, AZ (US);
Shatadal Mishra, Tempe, AZ (US);
Daniel Aukes, Tempe, AZ (US);
Wenlong Zhang, Tempe, AZ (US);
Dangli Yang, Tempe, AZ (US);
Shatadal Mishra, Tempe, AZ (US);
Daniel Aukes, Tempe, AZ (US);
Arizona Board of Regents on Behalf of Arizona State University, Tempe, AZ (US);
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.