4-Leg Landing Platform with Sensing for Reliable Rough Landing of Multi-copters

In this paper we propose a landing system in which multi-copters can make stable landings even in rough terrain. In order to utilize multi-copters in various environments, it is necessary to develop a landing platform that can be landed in rough terrain. The 4-leg landing platform of 2-link structure was analyzed kinematically and produced through 3D modeling. The landing platform detects contact with the ground through the Force Sensor upon landing and estimates the slope angle with the IMU (Inertial Measurement Unit) sensor. Using the formula proposed in this paper, maintain horizontality by controlling the angle value of each leg joint. We presented a rough environment and tested the proposed landing platform to verify its effectiveness.