Dynamic landing gear for balancing a multirotor helicopter

This paper presents the procedure to experimentally determine the capacity of a multirotor helicopter to move payload placed in front of it. We propose a solution to maintain the stability of it during flying using one half of a landing gear acting as a tail to create counterbalance. The main aim of the proposed system is to use only the mechanical systems available in a multirotor, this due to the limited payload capacity a helicopter can handle. In addition, the battery, which provide energy to the whole system, has been attached to the tail to increase the effect of counterbalance when the center of mass of the helicopter is been affected by the payload.