Research Topics on Flying Robotics

Effects of Active Landing Gears on the Attitude Dynamics of a Quadrotor

M.Sc. Thesis completed at October, 2015. Chassis, drivers, motors, and the propellers are from TURKUAV Platform by Robonik Mechatronic Technologies (www.robonik.com.tr). Naze 32 and Multiwii are used. Luxfloat control architecture is optimized on the test bench and Simulink models. It is shown that active landing gears (or similar manipulators on the quadrotor) can be utilized to reject the disturbances. In addition, they can be used to improve the agility of the system. Switching from disturbance rejection mode to improved agility mode will be managed by a higher level control system.     

Development of quadrocopters equipped with robot manipulators (2 dof manipulator, delta robot, etc.)

FlyRoVeL aims to design adaptive and/or robust control systems for quadrocopters. Videos below show the ealy phases of the project in which the quadrocopter will be equipped with 2 dof robot arm. FlyRoVeL aims to design adaptive and/or robust control systems for quadrocopters. Videos below show the ealy phases of the project in which the quadrocopter will be equipped with 2 dof robot arm. 

 

Development of novel flying robots -- 3DoHaT Novel triple-tilt-rotor fully-actuated flying platform

3DoHaT is a fully-actuated flying robot with 6 actuators and a composite chassis. 3 propulsion unit is tilted by 3 high speed servo motors thru mechanisms. 

 

Development of hybrid robots (multi-modal locomotion)

FlyRoVel aims to design, manufacture and control air-ground hybrid robots. They can move on gorund and fly in air whenever necessary. They provide optimal solutions for certain tasks. Systems with wheels and rotary-wing propulsion units are considered. Instead of using wheels, fusing legged locomotion and rotary-wing propulsion is also studied. Both of these platforms have underactuated nature. Legs/wheels are active in fly mode for steering/stabilizing purposes. 

Development of swarm of quadrocopters

Multiple quadrocopters will flock as a swarm! A joint study conducted together with Dr. Ali Emre Turgut and Kovan Research Lab. GPS free designs are studied. 

 

Testing

Following videos present some of the testing procedures during design of control systems.

 

Research Topics on Robotic Vehicles

2 Wheeled Robotic Vehicles 

Self stabilizing 2 wheeled personal transporters are studied. They are also designed as robot platforms. It is aimed to develop 2 wheeled systems for the purpose of assistive and rehabilitation robotics.

 

Design of smart systems for road vehicle drivers

Atilim University is participating in a Horizon 2020 project proposal, OWLET (submitted at April 2014). It is desired to predict and evaluate the driving behaviour.