Flying robots have many applications in constrained environments. But they are facing difficulties when they cannot take off again without human intervention if they are not in upright position after a fall. This paper presents a method to design a self-recovery mechanism for the quadrotor to protect itself and recover autonomously after accidental falls. The presented quadrotor with a self-recovery mechanism is 29.5 cm × 29.5 cm × 21 cm in size, and 340 g in weight. The self-recovery mechanism is consisted of two 27.5 cm long arms symmetric with respect to the body of the quadrotor and two cambered carbon fiber protecting-sticks forming a protective cage over the fuselage. The proposed self-recovery mechanism is simple and well-structured. With the self-recovery mechanism, the quadrotor can easily take off after a fall irrespective of the initial landing posture.
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