US 12,227,317 B2
Systems and methods for a spring-augmented quadrotor for interactions with constrained environments
Wenlong Zhang, Chandler, AZ (US); Seyed Mostafa Rezayat Sorkhabadi, Tempe, AZ (US); Shatadal Mishra, Tempe, AZ (US); and Karishma Patnaik, Tempe, AZ (US)
Assigned to Arizona Board of Regents on Behalf of Arizona State University, Tempe, AZ (US)
Filed by Wenlong Zhang, Chandler, AZ (US); Seyed Mostafa Rezayat Sorkhabadi, Tempe, AZ (US); Shatadal Mishra, Tempe, AZ (US); and Karishma Patnaik, Tempe, AZ (US)
Filed on Sep. 1, 2023, as Appl. No. 18/241,654.
Application 18/241,654 is a continuation of application No. 17/500,720, filed on Oct. 13, 2021, granted, now 11,787,574.
Claims priority of provisional application 63/091,114, filed on Oct. 13, 2020.
Prior Publication US 2024/0002075 A1, Jan. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B64U 10/14 (2023.01); B64U 20/40 (2023.01); B64U 20/65 (2023.01); B64U 30/293 (2023.01); B64U 30/296 (2023.01); B64U 30/299 (2023.01)
CPC B64U 10/14 (2023.01) [B64U 30/293 (2023.01); B64U 20/40 (2023.01); B64U 20/65 (2023.01); B64U 30/296 (2023.01); B64U 30/299 (2023.01); B64U 2201/10 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A method of operating a quadrotor with a variable geometry shape configuration via passive morphing, comprising:
providing a quadrotor comprising a body frame including a base and a top plate, the body frame including a plurality of arms, each arm of the plurality of arms including:
a propeller driven by at least one motor, a portion of the arm mounted over a connection member defining a hinge extending between the base and the top plate accommodating an in-plane rotary motion of the arm along a plane defined by the hinge, and
a torsional spring attached to the hinge; and
deploying the quadrotor along an environment defining an obstruction including:
deflecting the torsional spring thereby engaging in-plane rotary motion of the arm away from an original position as the arm engages the obstruction, and
urging the arm back to the original position by an angular return force from the torsional spring.