Body torque modulation for a microrobotic fly

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 3449-3456

  Finio, Benjamin M ^a   Shang, Jessica K ^a   Wood, Robert J ^a  

^a HARVARD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADDITIONAL CONTROL; CONTROL ALGORITHMS; DYNAMIC PREDICTION; FREE FLIGHT; HARVARD; INDEPENDENT CONTROL; MECHANICAL TRANSMISSION; MICRO ROBOTICS; POWER ACTUATORS; PSEUDO-RIGID BODY MODELS; THEORETICAL KINEMATICS; VERTICAL TAKE-OFF;

ACTUATORS; ALGORITHMS; KINEMATICS; ROBOTICS; ROBOTS; TORQUE;

WINGS;

EID: 70350362540     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152582     Document Type: Conference Paper

References (21)

1. R. Wood, " Liftoff of a 60mg flapping-wing MAV, " in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, pp. 1889-1894.
2. -, " Design, fabrication, and analysis, of a 3DOF, 3cm flappingwing mav, " in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, pp. 1576-1581.
3. -, " The first takeoff of a biologically inspired at-scale robotic insect, " in IEEE Transactions on Robotics, vol. 24, no. 2, 2008, pp. 341-347.
4. R. Wood, S. Avadhanula, R. Sahai, E. Steltz, and R. Fearing, " Microrobot Design Using Fiber Reinforced Composites, " Journal of Mechanical Design, vol. 130, pp. 52 304-52 315, 2008.
5. D. Campolo, R. Sahai, and R. Fearing, " Development of piezoelectric bending actuators with embedded piezoelectric sensors for micromechanical flapping mechanisms, " in IEEE International Conference on Robotics and Automation, vol. 3, 2003, pp. 3339-3346.
6. R. Wood, E. Steltz, and R. Fearing, " Optimal energy density piezoelectric bending actuators, " Sensors and Actuators A: Physical, vol. A 119, pp. 476-488, 2005.
7. H. Tanaka, K. Hoshino, K. Matsumoto, and I. Shimoyama, " Flight dynamics of a butterfly-type ornithopter, " IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2706-2711, 2005.
8. R. Madangopal, G. Student, Z. Khan, and S. Agrawal, " Biologically Inspired Design of Small Flapping Wing Air Vehicles Using Four-Bar Mechanisms and Quasi-steady Aerodynamics, " Journal of Mechanical Design, vol. 127, p. 809, 2005.
9. T. Pornsin-Sirirak, Y. Tai, C. Ho, and M. Keennon, " Microbat: A Palm- Sized Electrically Powered Ornithopter, " Proceedings of NASA/JPL Workshop on Biomorphic Robotics, pp. 14-17, 2001.
10. R. Fearing, K. Chiang, M. Dickinson, D. Pick, M. Sitti, and J. Yan, " Wing transmission for a micromechanical flying insect, " in IEEE International Conference on Robotics and Automation, vol. 2, 2000, pp. 1509-1516.
11. M. Sitti, " PZT actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax, " in IEEE International Conference on Robotics and Automation, vol. 4, 2001, pp. 3893-3900.
12. S. Avadhanula, R. Wood, D. Campolo, and R. Fearing, " Dynamically tuned design of the MFI thorax, " in IEEE International Conference on Robotics and Automation, vol. 1, 2002, pp. 52-59.
13. A. Bergou, S. Xu, and Z. Wang, " Passive wing pitch reversal in insect flight, " J. Fluid Mech., vol. 591, pp. 321-337, 2007.
14. M. Dickinson, F. Lehmann, and S. Sane, " Wing rotation and the aerodynamic basis of insect flight, " Science, vol. 284, no. 5422, pp. 1954-1960, 1999.
15. L. Schenato, X. Deng, and S. Sastry, " Flight control system for a micromechanical flying insect: Architecture and implementation, " in IEEE International Conference on Robotics and Automation, vol. 2, 2001, pp. 1641-1646.
16. X. Deng, L. Schenato, and S. Sastry, " Hovering flight control of a micromechanical flying insect, " in Decision and Control, vol. 1, 2001, pp. 235-240.
17. X. Deng, L. Schenato, W. Wu, and S. Sastry, " Flapping flight for biomimetic robotic insects: Part I-system modeling, " IEEE Transactions on Robotics, vol. 22, no. 4, pp. 776-788, 2006. (Pubitemid 44263864)
18. X. Deng, L. Schenato, and S. Sastry, " Flapping flight for biomimetic robotic insects: Part II-flight control design, " IEEE Transactions on Robotics, vol. 22, no. 4, pp. 789-803, 2006. (Pubitemid 44263865)
19. M. Dickinson and M. Tu, " The function of dipteran flight muscle, " Comp. Biochem. Physiol., vol. 116A, no. 3, pp. 223-238, 1997.
20. S. Avadhanula, " Design, fabrication and control of the micromechanical flying insect, " Ph.D. dissertation, University of California, Berkeley, 2006.
21. C. Ellington, " The aerodynamics of hovering insect flight. IV. aeorodynamic mechanisms, " Philosophical Transactions of the Royal Society of London. Series B, Biological Sciences, vol. 305, no. 1122, pp. 79-113, 1984.