A self-recovery mechanism for quadrotors

Flying robots have many applications in constrained environments. But they are facing difficulties when they cannot take off again without human intervention if they are not in upright position after a fall. This paper presents a method to design a self-recovery mechanism for the quadrotor to protect itself and recover autonomously after accidental falls. The presented quadrotor with a self-recovery mechanism is 29.5 cm × 29.5 cm × 21 cm in size, and 340 g in weight. The self-recovery mechanism is consisted of two 27.5 cm long arms symmetric with respect to the body of the quadrotor and two cambered carbon fiber protecting-sticks forming a protective cage over the fuselage. The proposed self-recovery mechanism is simple and well-structured. With the self-recovery mechanism, the quadrotor can easily take off after a fall irrespective of the initial landing posture.