A Swashplateless MAV: Thrust, Roll, Pitch, and Yaw from Only Two Motors

We derive thrust, roll, and pitch authority from a single propeller and single motor through an underactuated mechanism embedded in the rotor itself. This allows new types of conventionallycapable micro air vehicles which only require two motors for practical control. This contrasts with the many servos and linkages of conventional helicopters or the many drive motors found in quadrotors.

This is an ongoing research project of James Paulos, one of Prof. Mark Yim's students at the University of Pennsylvania.

We are the Modlab, a part of the GRASP Robotics lab. Visit our website at http://modlabupenn.org/ for more pictures, videos, and links to our research papers.