抄録
In this paper, we propose contra-rotating propellers and a thrust vector MAV. This MAV is for the use at indoor environment. It has 400 mm diameter and 1.1kg gross weight with a spherical outer shell. To reduce its vibration during hovering, an inertia balancer which compensates the angular moment difference between the upper and lower propellers was developed. Stable hovering, safe contact on a wall during hovering and re-take-off from various postures of MAV in landing were confirmed.
