An underactuated propeller for attitude control in micro air vehicles

Traditional coaxial helicopter micro air vehicles use a large propeller motor in conjunction with two small servomotors to control thrust, pitch, and roll forces and moments. Quadrotors similarly generate these necessary forces and moments through the coordinated control of multiple actuators. We present a novel propeller architecture which allows a single motor and rotor to express such control by modulating the torque applied to one passively hinged, underactuated propeller. Flight tests of a two-motor coaxial helicopter demonstrate that such a system can provide active stability and control in a real flight system.