Dual connected Bi-Copter with new wall trace locomotion feasibility that can fly at arbitrary tilt angle

We have developed a robot with a new control mechanism in order to collect information on flying robots in multiple fields. We aimed for a function that could rotate the tilt angle continuously and without limit and a function for flying maintaining any desired tilt angle with a structure that could efficiently use the thrust generated by the propellers. We devised a mechanism that connected two bicopter modules, each of which combines two of the four propellers into one set and named this mechanism the “Bi² Copter”. This mechanism provided movements including landing, take-off, and flying with any desired tilt angle. This ability of this mechanism to fly walls with continuously changing surface angles and full 360° spherical coverage makes possible applications in investigation, measurement, etc. This report covers the design concepts of this flying robot, the structure design, basic control and operations verification.