The semi-coaxial multirotor

Dmitry Bershadsky, Stephen Haviland, Eric N. Johnson

Research output: Contribution to journalConference articlepeer-review


The”semi-coaxial” multirotor configuration is presented including its advantages over the conventional coaxial rotor configuration. The semi-coaxial configuration retains the benefits of the coaxial configuration, and additionally alleviates the loss of efficiency encountered when rotors are stacked coaxially. In addition to being more power-efficient than the standard coaxial configuration, the described configuration allows for nearly- or fully-actuated control of a multirotor when used in configurations such as the three-armed Y6 hexarotor. Using this configuration, a new Direct Force Control (DFC) multirotor is presented: the Y6sC, a specific example of the semi-coaxial multirotor. The configuration orients six rotors in a way which allows the vehicle to hover in non-zero attitudes and translate without rotating with higher efficiency than the corresponding coaxial design.

Original languageEnglish (US)
JournalAnnual Forum Proceedings - AHS International
StatePublished - 2018
Event74th American Helicopter Society International Annual Forum and Technology Display 2018: The Future of Vertical Flight - Phoenix, United States
Duration: May 14 2018May 17 2018

All Science Journal Classification (ASJC) codes

  • Engineering(all)


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