A Centimeter-Scale Electrohydrodynamic Multi-Modal Robot Capable of Rolling, Hopping, and Taking Off

Zhang, Hengyu; Leng, Jiaming; Liu, Di; Zhan, Wencheng; Yun, Ruide; Liu, Zhiwei; Qi, Mingjing; Yan, Xiangqiao

doi:10.1109/lra.2022.3207556

Cited by 4 publications

(1 citation statement)

References 51 publications

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“…Microfabricated silicon electrodes have been used to produce high (≈10) thrust-to-weight ratio centimeter scale fliers [19], and an EAD quad-thruster design has lifted a useful sensor payload with tethered power [12]. Ductless single-stage actuators using UV laser microfabricated electrodes (as in this work) have been shown to produce sufficient thrust for liftoff [20], [21], [22].…”

Section: A Ead Propulsion For Flying Robotsmentioning

confidence: 93%

High Aspect Ratio Multi-Stage Ducted Electroaerodynamic Thrusters for Micro Air Vehicle Propulsion

Nelson,

Drew

2024

IEEE Robot. Autom. Lett.

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Electroaerodynamic propulsion, where force is produced through collisions between electrostatically accelerated ions and neutral air molecules, is an attractive alternative to propeller-and flapping wing-based methods for micro air vehicle (MAV) flight due to its silent and solid-state nature. One major barrier to adoption is its limited thrust efficiency at useful disk loading levels. Ducted actuators comprising multiple seriallyintegrated acceleration stages are a potential solution, allowing individual stages to operate at higher efficiency while maintaining a useful total thrust, and potentially improving efficiency through various aerodynamic and fluid dynamic mechanisms. Here, we investigate the effects of duct and emitter electrode geometries on actuator performance, then show how a combination of increasing cross-sectional aspect ratio and serial integration of multiple stages can be used to produce overall thrusts comparable to state-of-the-art flapping wing robots. A five-stage device is shown to reach a thrust density of about 18 N/m 2 , an order of magnitude higher than what has previously been achieved at this scale, with the same measured thrust efficiency as reported in prior work. We also show how a high aspect ratio multi-stage ducted thruster could be integrated under the wings of a MAVscale platform, pointing towards use as a distributed propulsion system in future work.

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Section: A Ead Propulsion For Flying Robotsmentioning

confidence: 93%

High Aspect Ratio Multi-Stage Ducted Electroaerodynamic Thrusters for Micro Air Vehicle Propulsion

Nelson,

Drew

2024

IEEE Robot. Autom. Lett.

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Locomotion for Insect‐Scale Robots With Bionic Strategies: A Review

Zou,

Ma,

Chen

et al. 2024

Journal of Field Robotics

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Insect‐scale robots possess the advantageous traits of small size, lightweight, and high flexibility. These features make them suitable for complex, narrow, or higher‐than‐the‐ground environments, allowing these insect‐scale robots to become highly sought‐after research topics. However, the miniaturization of robots has brought challenges to improving their environmental adaptability, such as climbing and obstacle‐crossing abilities. Mainstream strategies inspired by natural creatures to address these challenges can be classified into two types: adhesion for climbing robots and multi‐motion modes for obstacle‐crossing robots. Adhesion is preferred for occasions requiring climbing slopes, walls, or ceilings. In contrast, multi‐motion modes are suitable for occasions with limited obstacle heights or complex terrains to enable miniaturization and cable‐free operation. This paper summarizes the current research on environment‐adaptable insect‐scale robots (EAISRs) with adhesion or multi‐motion modes. Then, the paper discusses the advantages, disadvantages, and application scenarios of EAISRs, including climbing robots with different adhesion strategies and obstacle‐crossing robots with various driving methods in detail. Finally, this paper proposes the future challenges and possible solutions for EAISRs, providing ideas for future interactions between insect‐scale robots and the environment.

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Empirical Study of Ground Proximity Effects for Small-scale Electroaerodynamic Thrusters

Nations,

Nelson,

Drew

2024

2024 IEEE International Conference on Robotics and Automation (ICRA)

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A Centimeter-Scale Electrohydrodynamic Multi-Modal Robot Capable of Rolling, Hopping, and Taking Off

Cited by 4 publications

References 51 publications

High Aspect Ratio Multi-Stage Ducted Electroaerodynamic Thrusters for Micro Air Vehicle Propulsion

High Aspect Ratio Multi-Stage Ducted Electroaerodynamic Thrusters for Micro Air Vehicle Propulsion

Locomotion for Insect‐Scale Robots With Bionic Strategies: A Review

Empirical Study of Ground Proximity Effects for Small-scale Electroaerodynamic Thrusters

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