Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem
This article presents the four-dimensional surfaces that guide the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; no theoretical base backs the robustness of these gaits. This research deduces the gaits by diminishing the adverse effect of...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-04-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/6/5/103 |
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| author | Zhe Shen Yudong Ma Takeshi Tsuchiya |
| author_facet | Zhe Shen Yudong Ma Takeshi Tsuchiya |
| author_sort | Zhe Shen |
| collection | DOAJ |
| description | This article presents the four-dimensional surfaces that guide the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; no theoretical base backs the robustness of these gaits. This research deduces the gaits by diminishing the adverse effect of the attitude of the tilt-rotor for the first time. Four-dimensional gait surfaces are subsequently found on which the gaits are expected to be robust to the attitude. These surfaces provide the region where the gait is suggested to be planned. However, a discontinuous region may hinder the gait plan process while utilizing the proposed gait surfaces. The ‘Two Color Map Theorem’ is then established to guarantee the continuity of each gait designed. The robustness of the typical gaits on the gait surface, obeying the Two Color Map Theorem, is demonstrated by comparing the singular curves in attitude with the gaits not on the gait surface. The result shows that the gaits on the gait surface receive wider regions of the acceptable attitudes. |
| first_indexed | 2024-03-10T03:00:42Z |
| format | Article |
| id | doaj.art-3586f16e9a204198a62ab653901b5471 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-10T03:00:42Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-3586f16e9a204198a62ab653901b54712023-11-23T10:43:59ZengMDPI AGDrones2504-446X2022-04-016510310.3390/drones6050103Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map TheoremZhe Shen0Yudong Ma1Takeshi Tsuchiya2Department of Aeronautics and Astronautics, The University of Tokyo, Tokyo 1138654, JapanDepartment of Aeronautics and Astronautics, The University of Tokyo, Tokyo 1138654, JapanDepartment of Aeronautics and Astronautics, The University of Tokyo, Tokyo 1138654, JapanThis article presents the four-dimensional surfaces that guide the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; no theoretical base backs the robustness of these gaits. This research deduces the gaits by diminishing the adverse effect of the attitude of the tilt-rotor for the first time. Four-dimensional gait surfaces are subsequently found on which the gaits are expected to be robust to the attitude. These surfaces provide the region where the gait is suggested to be planned. However, a discontinuous region may hinder the gait plan process while utilizing the proposed gait surfaces. The ‘Two Color Map Theorem’ is then established to guarantee the continuity of each gait designed. The robustness of the typical gaits on the gait surface, obeying the Two Color Map Theorem, is demonstrated by comparing the singular curves in attitude with the gaits not on the gait surface. The result shows that the gaits on the gait surface receive wider regions of the acceptable attitudes.https://www.mdpi.com/2504-446X/6/5/103tilt-rotorfeedback linearizationsingulargait planrobustnesscolor map theorem |
| spellingShingle | Zhe Shen Yudong Ma Takeshi Tsuchiya Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem Drones tilt-rotor feedback linearization singular gait plan robustness color map theorem |
| title | Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem |
| title_full | Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem |
| title_fullStr | Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem |
| title_full_unstemmed | Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem |
| title_short | Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem |
| title_sort | four dimensional gait surfaces for a tilt rotor two color map theorem |
| topic | tilt-rotor feedback linearization singular gait plan robustness color map theorem |
| url | https://www.mdpi.com/2504-446X/6/5/103 |
| work_keys_str_mv | AT zheshen fourdimensionalgaitsurfacesforatiltrotortwocolormaptheorem AT yudongma fourdimensionalgaitsurfacesforatiltrotortwocolormaptheorem AT takeshitsuchiya fourdimensionalgaitsurfacesforatiltrotortwocolormaptheorem |