OmniQuad

Julien Mellet1*, Andrea Berra2*, Salvatore Marcellini4, Miguel Ángel Trujillo Soto2, Guillermo Heredia3, Fabio Ruggiero1, Vincenzo Lippiello1
1, PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy.
2, CATEC, Advanced Center for Aerospace Technologies, Seville, Spain.
3, GRVC, Robotics, Vision and Control Group, School of Engineering, University of Seville, Seville, Spain.
4, Leonardo Innovation Labs, Leonardo S.p.A., 00195 Rome, Italy.

*Indicates Equal Contribution
Paper Code Design arXiv

OmniQuad is an open-source omnidirectional quadrotor designed for Aerial Physical Interaction. Developed as part of our research, this platform is built for researchers and enthusiasts looking to experiment, modify, and innovate. OmniQuad runs on PX4 and is 90% 3D-printed, ensuring affordability and ease of replication. Join the community and take OmniQuad to new heights!

Citation

@article{mellet2024design,
      title={Design and Control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction},
      author={Mellet, Julien and Berra, Andrea and Marcellini, Salvatore and Soto, Miguel {\'A}ngel Trujillo and Heredia, Guillermo and Ruggiero, Fabio and Lippiello, Vincenzo},
      journal={arXiv preprint arXiv:2410.09003},
      year={2024}
    }

Abstract

Fully actuated aerial robot proved their superiority for Aerial Physical Interaction (APhI) over the past years. This work proposes a minimal setup for aerial telemanipulation, enhancing accessibility of these technologies. The design and the control of a 6-Degrees of Freedom (DoF) joystick with 4-DoF haptic feedback is detailed. It is the first haptic device with standard Remote Controller (RC) form factor for APhI. By miniaturizing haptic device, it enhances RC with the sense of touch, increasing physical awareness. The goal is to give operators an extra sense, other than vision and sound, to help to perform safe APhI. To the best of the authors knowledge, this is the first teleoperation system able to decouple each single axis input command. On the omnidirectional quadrotor, by reducing the number of components with a new design, we aim a simplified maintenance, and improved force and thrust to weight ratio. Open-sourced physic based simulation and successful preliminary flight tests highlighted the tool as promising for future APhI applications.

Video Presentation

Flight Experiments