A Dual Tiltrotor UAV with Foldable Wings for Passive Perching and Belly/Back Takeoff
Luyao Wang, Jiangyi Zhang, Liangliang Cheng, Jingrui Yang, Tianchi Ma, Xiang He
Abstract
This paper presents a novel dual tiltrotor UAV design featuring foldable wings and a strategically positioned center of gravity (CG) to enable passive perching and multi-modal flight. Traditional UAVs rely on additional mechanical components for operations such as takeoff and perching, which increase weight and complexity. Inspired by the mechanics of a balanced bird toy, our design achieves stability in horizontal flight and secure power-off perching on branches or cables. The proposed blade-tip plane-based controller facilitates belly/back takeoff without landing gear, enabling seamless transitions between hovering and horizontal flight within 2 seconds. Wind resistance tests were conducted indoors to assess disturbance rejection capabilities during perching, while the transition performance was evaluated outdoors.
BibTeX
@inproceedings{iros2025_adualtiltrotorua,
title = {A Dual Tiltrotor UAV with Foldable Wings for Passive Perching and Belly/Back Takeoff},
author = {Luyao Wang and Jiangyi Zhang and Liangliang Cheng and Jingrui Yang and Tianchi Ma and Xiang He},
booktitle = {IROS 2025},
year = {2025}
}