Quad Rotor Helicopter Control with Humanoid Robot

Abstract

In present study, we propose a new control method using an external input to PD attitude control system of Quad-Rotor Helicopter (QRH). We set a humanoid robot on the center of experimental QRH. When the humanoid robot takes a step forward, this motion causes the shift of center of gravity (COG), and it causes the attitude change of QRH. Then attitude control system generates counter torque to cancel the tilt angle. As a result, small inclination exists. This small inclination generates moving thrust, and QRH starts to slide. The results clearly suggest that we can control QRH with external independent devices attached on it.