Stroke plane deviation for a microrobotic fly

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 3378-3385

  Finio, Benjamin M ^a   Whitney, John P ^a   Wood, Robert J ^a  

^a HARVARD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AERODYNAMIC POWER; FLAPPING MOTION; FLAPPING WING FLIGHT; FLAPPING WING MICRO AIR VEHICLE; MECHANISM DESIGN; POWER EFFICIENT; QUASI-STEADY MODEL; SIMPLE MODIFICATIONS; TEST DEVICE; TRANSMISSION DESIGN; WING MOTION;

MACHINE DESIGN; MICRO AIR VEHICLE (MAV); TRAJECTORIES;

INTELLIGENT ROBOTS;

EID: 78651501815     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5650812     Document Type: Conference Paper

References (37)

1. J. Park and K. Yoon, "Designing a Biomimetic Ornithopter Capable of Sustained and Controlled Flight," Journal of Bionic Engineering, vol. 5, no. 1, pp. 39-47, 2008.
2. G. Bunget and S. Seelecke, "BATMAV: a biologically-inspired micro-air vehicle for flapping flight: kinematics and actuation," in Proceedings of SPIE, vol. 6928. SPIE, 2008, p. 69282F.
3. 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.
4. F. Van Breugel, W. Regan, and H. Lipson, "Demonstration of a Passively Stable, Untethered Flapping-Hovering Micro-Air Vehicle," IEEE Robotics & Automation Magazine, p. 69, 2008.
5. Y. Kawamura, S. Souda, S. Nishimoto, and C. Ellington, "Clapping-wing Micro Air Vehicle of Insect Size," Bio-mechanisms of Swimming and Flying, pp. 319-330, 2008.
6. E. Wetzel, R. Polcawich, C. Kroninger, J. Pulskamp, and J. Bronson, "Bio-Mimetic Millimeter-Scale Flapping Wings for Micro Air Vehicles," 2009.
7. R. Wood, "Liftoff of a 60mg flapping-wing MAV," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, pp. 1889-1894.
8. -, "Design, fabrication, and analysis, of a 3DOF, 3cm flapping-wing mav," pp. 1576-1581, 2007.
9. -, "The first takeoff of a biologically inspired at-scale robotic insect," in IEEE Transactions on Robotics, vol. 24, no. 2, 2008, pp. 341-347.
10. S. Pulla and A. Lal, "Insect powered micro air vehicles," in IEEE International Conference on Robotics and Automation. IEEE Press, 2009, pp. 4414-4419.
11. 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.
12. S. Banala and S. Agrawal, "Design and optimization of a mechanism for out-of-plane insect winglike motion with twist," Journal of Mechanical Design, vol. 127, p. 841, 2005.
13. S. Fry and M. Dickinson, "The aerodynamics of free-flight maneuvers in drosophila." SCIENCE, vol. 300, no. 5618, pp. 495-498, 2003.
14. T. Maxworthy, "The fluid dynamics of insect flight," Annual Review of Fluid Mechanics, vol. 13, no. 1, pp. 329-350, 1981.
15. C. Ellington, "The aerodynamics of hovering insect flight. III. Kinematics," Philosophical Transactions B, vol. 305, no. 1122, p. 41, 1984.
16. H. Dong, Z. Liang, and M. Harff, "Optimal Settings of Aerodynamic Performance Parameters in Hovering Flight," International Journal of Micro Air Vehicles, vol. 1, no. 3, pp. 173-181, 2009.
17. G. Berman and Z. Wang, "Energy-minimizing kinematics in hovering insect flight," Journal of Fluid Mechanics, vol. 582, pp. 153-168, 2007.
18. M. Karpelson, P. Whitney, G. Wei, and R. Wood, "Energetics of Flapping-Wing Robotic Insects: Towards Autonomous Hovering Flight," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, in press.
19. G. K. Taylor, "Mechanics and aerodynamics of insect flight control," Biological Reviews, vol. 76, no. 04, pp. 449-471, 2001.
20. Stacey Combes, 2010, personal communication.
21. M. Dickinson and M. Tu, "The function of dipteran flight muscle," Comp. Biochem. Physiol., vol. 116A, no. 3, pp. 223-238, 1997.
22. C. Balint and M. Dickinson, "The correlation between wing kinematics and steering muscle activity in the blowfly Calliphora vicina," Journal of Experimental Biology, vol. 204, no. 24, p. 4213, 2001.
23. C. Balint and M. Dickinson, -, "Neuromuscular control of aerodynamic forces and moments in the blowfly, Calliphora vicina," Journal of Experimental Biology, vol. 207, no. 22, p. 3813, 2004.
24. R. Dudley, The biomechanics of insect flight: form, function, evolution. Princeton University Press, 2000.
25. B. Finio, J. Shang, and R. Wood, "Body Torque Modulation for a Microrobotic Fly," in IEEE International Conference on Robotics and Automation, 2009, pp. 3449-3456.
26. B. Finio, B. Eum, C. Oland, and R. Wood, "Asymmetric flapping for a robotic fly using a hybrid power-control actuator," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 2755-2762.
27. 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.
28. A. Hoover and R. Fearing, "Analysis of off-axis performance of compliant mechanisms with applications to mobile millirobot design," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 2770-2776.
29. 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.
30. 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.
31. A. Bergou, S. Xu, and Z. Wang, "Passive wing pitch reversal in insect flight," J. Fluid Mech., vol. 591, pp. 321-337, 2007.
32. 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.
33. J. Whitney and R. Wood, "Aeromechanics of Passive Rotation in Flapping Flight," Journal of Fluid Mechanics, 2010, in press.
34. M. Karpelson, G. Wei, and R. Wood, "A review of actuation and power electronics options for flapping-wing robotic insects," in IEEE International Conference on Robotics and Automation, 2008, pp. 779-786.
35. -M. Karpelson, G. Wei, and R. Wood, , "Milligram-Scale High-Voltage Power Electronics for Piezoelectric Microrobots," in IEEE International Conference on Robotics and Automation, 2009.
36. J. Bouget, "Camera Calibration Toolbox for Matlab," 2008, www.vision.caltech.edu/bouguetj/calib-doc/
37. R. Wood, K. Cho, and K. Hoffman, "A Novel Multi-Axis Force Sensor for Microrobotics Applications," J. Smart Materials and Structures, 2009.