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A rotorcraft with two counter-rotating rotors and method for inertially controlling the rotorcraft. The rotorcraft includes a hinged frame configured such that at least one inter-rotor angle of the two counter-rotating rotors is controlled by at least one actuated hinge of the hinged frame and the r

A rotorcraft with two counter-rotating rotors and method for inertially controlling the rotorcraft. The rotorcraft includes a hinged frame configured such that at least one inter-rotor angle of the two counter-rotating rotors is controlled by at least one actuated hinge of the hinged frame and the rotational axes of the two counter-rotating rotors are substantially collinear when the actuated hinge is in a fully open position. The sum of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the lift of the rotorcraft. The difference of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the yaw of the rotorcraft. The at least one inter-rotor angle is varied using the at least one actuated hinge to control the pitch and/or roll of the rotorcraft.

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1. A rotorcraft, comprising: a first motor coupled to a first rotor, the first rotor being a right-hand rotor;a second motor coupled to a second rotor, the second rotor being a left-hand rotor;a hinged frame, a first motor mount configured to rigidly hold the first motor, and a second motor mount co

1. A rotorcraft, comprising: a first motor coupled to a first rotor, the first rotor being a right-hand rotor;a second motor coupled to a second rotor, the second rotor being a left-hand rotor;a hinged frame, a first motor mount configured to rigidly hold the first motor, and a second motor mount configured to rigidly hold the second motor, the hinged frame including at least one actuated hinge to vary at least one inter-rotor angle of the first and second rotors, the at least one actuated hinge configured such that the rotational axes of the first and second rotors are substantially collinear when the at least one actuated hinge is in a fully open position; andcontrol circuitry coupled to the first motor, the second motor, and the at least one actuated hinge,wherein a center of mass of the first rotor is located at substantially the same position as a center of mass of the second rotor. 2. A rotorcraft according to claim 1, wherein the centers of mass of the first rotor and the second rotor are located at substantially the same position as a center of mass of the rotorcraft. 3. A rotorcraft according to claim 2, wherein the first rotor and the second rotor are concentric. 4. A rotorcraft according to claim 3, wherein the first rotor and second rotor rotate in the same plane when the at least one actuated hinge is in a fully open position. 5. A rotorcraft according to claim 2, wherein the hinged frame of the rotorcraft is adapted to be coupled to a payload. 6. A rotorcraft according to claim 1, wherein the at least one actuated hinge of the hinged frame is adapted to be coupled to a payload. 7. A rotorcraft according to claim 1, wherein the hinged frame includes a housing configured such that the first rotor and second rotor are ducted. 8. A rotorcraft according to claim 7, wherein the housing of the hinged frame is adapted to be coupled to a payload. 9. A rotorcraft according to claim 1, wherein the hinged frame includes: a first rotor-guard configured to substantially protect the first rotor from collisions with environmental objects; anda second rotor-guard configured to substantially protect the second rotor from collisions with environmental objects. 10. A rotorcraft according to claim 1, wherein the at least one actuated hinge comprises a first actuated hinge and a second actuated hinge. 11. A rotorcraft according to claim 10, wherein the at least one inter-rotor angle of the first and second rotors comprises an inter-rotor angle of the first rotor and an inter-rotor angle of the second rotor and wherein the first actuated hinge varies the inter-rotor angle of the first rotor and the second actuated hinge varies the inter-rotor angle of the second rotor. 12. A rotorcraft according to claim 11, wherein the inter-rotor angles of the first and second rotors are not coplanar. 13. A rotorcraft according to claim 12, wherein the inter-rotor angles of the first and second rotors are in substantially perpendicular planes. 14. A rotorcraft according to claim 1, wherein the control circuitry includes: first motor control circuitry coupled to the first motor to control a first rotational speed of the first rotor;second motor control circuitry coupled to the second motor to control a second rotational speed of the second rotor; andhinge control circuitry coupled to the at least one actuated hinge to control the at least one inter-rotor angle. 15. A rotorcraft according to claim 14, wherein: the control circuitry further includes flight control circuitry coupled to the first motor control circuitry, the second motor control circuitry, and the hinge control circuitry; andthe flight control circuitry is adapted to:supply lift control signals to the first motor control circuitry and the second motor control circuitry to control lift of the rotorcraft;supply yaw control signals to the first motor control circuitry and the second motor control circuitry to control yaw of the rotorcraft;supply pitch control signals to the hinge control circuitry to control pitch of the rotorcraft; andsupply roll control signals to the hinge control circuitry to control roll of the rotorcraft. 16. A rotorcraft according to claim 15, wherein the lift control signals for controlling lift of the rotorcraft comprise signals to vary a sum of magnitudes of torque applied to the first and second rotors. 17. A rotorcraft according to claim 15, wherein the yaw control signals for controlling yaw of the rotorcraft comprise signals to vary a difference of magnitudes of torque applied to the first and second rotors. 18. A rotorcraft according to claim 15, wherein the pitch control signals for controlling pitch of the rotorcraft comprise signals to vary a first of the at least one inter-rotor angles. 19. A rotorcraft according to claim 18, wherein the roll control signals for controlling roll of the rotorcraft comprise signals to vary a second of the at least one inter-rotor angles. 20. A rotorcraft, comprising: a first motor coupled to a housing;a first rotor coupled to the first motor by a first transmission, the first rotor being a right-hand rotor;a second motor coupled to the housing;a second rotor coupled to the second motor by a second transmission, the second rotor being a left-hand rotor;a hinged frame, a first rotor mount configured to rigidly hold the first rotor, and a second rotor mount configured to rigidly hold the second rotor, the hinged frame including at least one actuated hinge coupled to the housing, the at least one actuated hinge:disposed between the first rotor mount and the second rotor mount to vary at least one inter-rotor angle of the first and second rotors; andconfigured such that the first rotational axis and the second rotational axis are substantially collinear when the actuated hinge is in a fully open position; andcontrol circuitry coupled to the first motor, the second motor, and the at least one actuated hinge,wherein a center of mass of the first rotor is located at substantially the same position as a center of mass of the second rotor. 21. A rotorcraft, comprising: a first motor coupled to a first rotor, the first rotor being a right-hand rotor;a second motor coupled to a second rotor concentric with the first rotor, the second rotor being a left-hand rotor;a hinged frame, a first motor mount configured to rigidly hold the first motor, and a second motor mount configured to rigidly hold the second motor, the hinged frame including a first actuated hinge to vary an inter-rotor angle of the first rotor, and a second actuated hinge to vary an inter-rotor angle of the second rotor, the first and second actuated hinges configured such that the first and second rotors are substantially coplanar and the rotational axes of the first and second rotors are substantially collinear when the first and second actuated hinges are a fully open position; andcontrol circuitry coupled to the first motor, the second motor, and the first and second actuated hinges. 22. A rotorcraft according to claim 21, wherein the control circuitry includes: first motor control circuitry coupled to the first motor to control a first rotational speed of the first rotor;second motor control circuitry coupled to the second motor to control a second rotational speed of the second rotor;first hinge control circuitry coupled to the first actuated hinge to control the inter-rotor angle of the first rotor; andsecond hinge control circuitry coupled to the second actuated hinge to control the inter-rotor angle of the second rotor. 23. A rotorcraft according to claim 22, wherein: the control circuitry further includes flight control circuitry coupled to the first motor control circuitry, the second motor control circuitry, the first hinge control circuitry, and the second hinge control circuitry; andthe flight control circuitry is adapted to:supply lift control signals to the first motor control circuitry and the second motor control circuitry to control lift of the rotorcraft;supply yaw control signals to the first motor control circuitry and the second motor control circuitry to control yaw of the rotorcraft;supply pitch control signals to the first hinge control circuitry to control pitch of the rotorcraft; andsupply roll control signals to the second hinge control circuitry to control roll of the rotorcraft. 24. A rotorcraft according to claim 23, wherein the lift control signals for controlling lift of the rotorcraft comprise signals to vary a sum of magnitudes of torque applied to the first and second rotors. 25. A rotorcraft according to claim 23, wherein the yaw control signals for controlling yaw of the rotorcraft comprise signals to vary a difference of magnitudes of torque applied to the first and second rotors. 26. A rotorcraft according to claim 23, wherein the pitch control signals for controlling pitch of the rotorcraft comprise signals to vary the inter-rotor angle of the first rotor. 27. A rotorcraft according to claim 23, wherein the roll control signals for controlling roll of the rotorcraft comprise signals to vary the inter-rotor angle of the second rotor. 28. A rotorcraft according to claim 21, further comprising: a first housing frame containing a first bearing coupled to the first rotor; anda second housing frame containing a second bearing coupled to the second rotor;wherein the first motor is coupled to the first bearing and the second motor is coupled to the second bearing; andwherein the first actuated hinge varies the inter-rotor angle of the first rotor by rotating the first housing frame and the second actuated hinge varies the inter-rotor angle of the second rotor by rotating the second housing frame.