IEEE Robotics & Automation Magazine - December 2018 - 34

The Voliro
Omniorientational
Hexacopter
An Agile and Maneuverable Tiltable-Rotor Aerial Vehicle

Image lIcensed by Ingram PublIshIng

By Mina Kamel, Sebastian Verling, Omar Elkhatib,
Christian Sprecher, Paula Wulkop, Zachary Taylor,
Roland Siegwart, and Igor Gilitschenski

E

xtending the maneuverability of multirotors promises
to yield a considerable increase in their scope of
applications, such as carrying out more challenging
inspection tasks and generating complex, uninterrupted
movements of an attached camera. In this article,
we address the promise of multirotor maneuverability by
presenting Voliro, a novel aerial platform that combines the
advantages of existing multirotor systems with the agility of
vehicles having omniorientational controllability. In other
words, Voliro can fly in any direction while maintaining an
arbitrary orientation.

Digital Object Identifier 10.1109/MRA.2018.2866758
Date of publication: 8 October 2018

34

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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december 2018

We propose the use of a hexacopter with tiltable rotors,
allowing the system to decouple control of position from control of orientation. The contributions of this article include
the overall mechanical design as well as the design of a controller with the corresponding allocation scheme. This work
also discusses the design challenges involved when turning
the concept of a hexacopter with tiltable rotors into an actual
prototype. The agility of the system is demonstrated and evaluated using real-world experiments.
Previous Approaches
As autonomous multirotor unmanned aerial vehicles (UAVs)
are increasingly deployed in a broad spectrum of real-world
robotics applications [1]-[4], there is a growing demand to
broaden the scope of their applicability, effectiveness, and
1070-9932/18©2018IEEE



IEEE Robotics & Automation Magazine - December 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2018

Contents
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