Abstract
In this study, we set a humanoid robot on the center of experimental quad-rotor helicopter (QRH). When the humanoid tilts, this motion shifts the center of gravity, and it causes the attitude change of the quad rotor helicopter. Then attitude control system generates counter torque to cancel the tilt angle. As the result, small inclination exists when counter torque balances to load torque. This small inclination generates moving thrust, and QRH starts to slide. This result means that we can control QRH with external independent devices attached on it.
