Design, Modeling and Control of Fully Actuated 2D Transformable Aerial Robot with 1 DoF Thrust Vectorable Link Module We present a novel transformable multilinked aerial robot which consists of link modules with 1 DoF thrust vectoring mechanism. Commonly used UAV is underactuated due to its simplicity and high flight duration, but can not control the position and orientation independently. To overcome this problem, fully actuated multirotor aerial robots have been developed. In our previous work we developed fully actuated multilinked aerial robot which can transform in the air. However, the transformation range was limited because of a singularity problem. In this paper we propose a new design of link module with a tilted rotor and 1 DoF thrust vectoring joint which enables to avoid singularity forms and keep the flight stable during transformation. We describe modeling and control for the fully actuated multilinked multirotor. Then we propose a transformation planning method utilizing the 1 DoF thrust vectoring angle with consideration of guaranteed minimum forcetorque. Finally we perform an aerial transformation experiment with a real platform to demonstrate the feasibility of our proposed design and methods.

Achievement of Online Agile Manipulation Task for Aerial Transformable Multilink Robot Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex nonlinear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multilinks aerial robot. We introduce a computationalefficient nonlinear model predictive controller and joints motion primitive framework to achieve agile transforming motions and validate with a novel robot named HYRURSX. Finally, we implement our framework under a table tennis task to validate the online and agile performance.Supplementary MaterialThis paper is accompanied by a experiment video: http:www.jsk.t.utokyo.ac.jp%7eshifanpaperiros19video.mp4