[On-going 2] Quadcopter Fail-safe Flight by Controlling the Center of Mass Location00:00

Laboratory of Autonomous Robotics Research (LARR) in Seoul National University is conducting research on actively controlling the position of the center of mass (CoM) of the Quadcopter to generate the high attitude control torque required for improving the agility of the platform’s translational motion.
During our research, however, we have recently learned that CoM location control can completely replace the contribution of a particular motor to the quadrotor’s attitude control.
The video shows an experimental result of fail-safe flight in a single motor failure condition, where we can restore all four control inputs (roll, pitch, yaw, thrust) of the multirotor by utilizing the CoM control.