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A Two-Wheeled Quadrotor with All-Clockwise Tilted Rotors for Level-Attitude Surface Locomotnion — arXiv:2610.40502

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.40502
License (as archived): CC0-1.0
Archived: 2026-11-01T02:45:51.373Z
SHA-256 of the archived text: b13b97970ff2980040b8433357102462710ce56588a2217f4569954979eec62e
Stable URL of this page: https://metraipolis.com/documento/dc_cc67d2ebafec

How to cite

A Two-Wheeled Quadrotor with All-Clockwise Tilted Rotors for Level-Attitude Surface Locomotnion — arXiv:2610.40502 — arXiv (en), https://arxiv.org/abs/2610.40502 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_cc67d2ebafec (Metraipolis archive dc_cc67d2ebafec, sha256 b13b97970ff2980040b8433357102462710ce56588a2217f4569954979eec62e)

BibTeX

@misc{dccc67d2ebafec,
  title = {A Two-Wheeled Quadrotor with All-Clockwise Tilted Rotors for Level-Attitude Surface Locomotnion — arXiv:2610.40502},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.40502},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_cc67d2ebafec; sha256 b13b97970ff2980040b8433357102462710ce56588a2217f4569954979eec62e},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.40502. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Conventional wheel-equipped quadrotor UAVs must tilt their bodies to generate lateral forces, limiting their ability to maintain a desired attitude during lateral motion. This paper proposes a wheeled quadrotor with all-clockwise tilted rotors that uses surface contact as a constraint to generate propulsion along the contact surface without tilting the vehicle. We analyze feasible forces and system controllability under surface contact and optimize the vehicle design considering different rotor-spin configurations. The optimization results show that a configuration in which all four rotors spin clockwise can generate a larger tangential force than the conventional alternating-spin configuration. This approach enables both aerial and contact-based locomotion without additional rotor-tilting actuators or mechanisms. Simulation results demonstrate both hovering in free space and horizontal locomotion on a floor while maintaining a level attitude.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO) ; Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2610.40502 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-01T02:16:58.686Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).