Design, planning, and control of an origami-inspired foldable quadrotor

Dangli Yang, Shatadal Mishra, Daniel M. Aukes, Wenlong Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Scopus citations


In this paper, a novel foldable quadrotor (FQR) inspired by an origami mechanism is designed. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method. Simulation results are provided to demonstrate the advantage of this design over the conventional quad-rotor in obstacle avoidance during flight.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538679265
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2019 American Control Conference, ACC 2019
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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