Development and Flight Experiments of a Bluffbodied X4Blimp The body of X4blimp using four propellers manufactured in conventional research was a structure which has arranged four envelopes in which the buoyancy was equally divided centering on the gondola to which the propeller was attached. However, with this structure, the variation in the buoyancy arose among four envelopes, and there was a problem to which the body posture becomes unstable. In this research, it returns to the starting point which arranges one envelope at the center of the body, and the body of a fundamental structure of the nonstreamline is developed, in which the number of envelopes is suppressed to the minimum, and the variation in the buoyancy is avoided by attaching the special frame which can carry four propellers in the circumference of the envelope. The validity of the manufactured body is demonstrated through some flight experiments.

BioTetra: A Bioinspired MultiRotor Aerial Vehicle Applications of multirotor aerial robots are progressively expanding into various industries. However, due to its actuators configuration, standard multirotor vehicles flexibility is greatly limited. In this manuscripts, we proposed a bioinspired multirotor aerial vehicle, called BioTetra, a class of aircraft capable of vectorflying and omnidirectional movement. The BioTetra vehicle, which finds inspiration in the configuration layout of the organic molecules(CH 4 ), exploits its stability of the regular tetrahedral structure. The new abilities of the BioTetra vehicle not only improve flight efficiency, but also expand the reachable set. First, the mechanical design with regular tetrahedron configuration layout is introduced. Then, a quaternionbased attitude controller is designed to track a full pose trajectory in space. The virtual simulation of the aerial vehicle verifies the feasibility of the new structure and the effectiveness of the control strategy.