A review of actuation and power electronics options for flapping-wing robotic insects

Karpelson, Michael; Wei, Gu-Yeon; Wood, Robert J.

doi:10.1109/robot.2008.4543300

Cited by 138 publications

(99 citation statements)

References 27 publications

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“…In the last direction, contributions that have carried out interesting efforts are [106][107][108][109][110][111][112][113][114]. However, those papers only focus on the design of the power stage without considering the other dynamics.…”

Section: Discussion and Contributionmentioning

confidence: 99%

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

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The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ-Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

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Section: Discussion and Contributionmentioning

confidence: 99%

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

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“…3 However, the power supply for the actuator driving these robots, which can realize various postures (e.g. flying, crawling, and swimming) under high efficiency and maneuverability, remains a challenge.…”

Section: Introductionmentioning

confidence: 99%

Micro converter with a high step-up ratio to drive a piezoelectric bimorph actuator applied in mobile robots

Wang

Chen

2018

International Journal of Advanced Robotic Systems

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In this study, a micro converter for driving a piezoelectric actuator is designed and implemented. The converter can produce 100 V, 80 Hz AC voltage from 3.7 V DC voltage. With regard to the requirements of micro mobile robots, the main contributions of this study are the design and implementation of a circuit topology supplying power for micro mobile robots at low power and the miniaturization of this topology to make it suitable for driving a centimeter-level robot. The 91 mg mass (excluding printed circuit board mass), 14 Â 12 Â 4 mm size, and 84.6% efficiency of the converter indicate that this circuit could be applied in micro mobile robots driven by piezoelectric actuators.

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“…They have advantages that human beings cannot match, thereby enabling these machines to play a huge role in environmental monitoring, 5 geological exploration, 6 personnel rescue, 7 and agricultural production. 8 One of the major challenges in developing a microrobot is achieving motion using limited power supply. In addition, this study presents two major challenges for power electronic design: generating high-voltage drive signals in system typically powered by low-voltage energy sources and recovering unused energy from the actuators.…”

Section: Introductionmentioning

confidence: 99%

Piezoelectric transformer-based high conversion ratio interface for driving dielectric actuator in microrobotic applications

Chen

Liu

Lin

et al. 2016

International Journal of Advanced Robotic Systems

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Dielectric actuators are utilized to convert electrical power into mechanical strain with considerable potential in microrobotic applications. However, critical challenges that need to be addressed include high-voltage interface with high conversion ratio, light weight, small size, and high power density. This study proposes a high piezoelectric transformerbased high conversion ratio interface that is integrated with a direct current/direct current high conversion ratio boost stage and a direct current/alternating current high-voltage driving stage. A piezoelectric transformer-based class-E zero voltage switching direct current/direct current interface is controlled by a hybrid pulse frequency modulation and pulse width modulation control strategies to obtain the desired high step-up ratio in the direct current/direct current stage. A half-bridge converter with special digital control algorithm in the direct current/alternating current stage is designed to convert high direct current voltage into arbitrary unipolar signal driving dielectric actuators. A prototype 23.3 g and 4 W interface has been fabricated for experimental validation to verify its ability to drive a 1 kV input dielectric actuator at 5 Hz in microrobotic applications.

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A review of actuation and power electronics options for flapping-wing robotic insects

Cited by 138 publications

References 27 publications

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Micro converter with a high step-up ratio to drive a piezoelectric bimorph actuator applied in mobile robots

Piezoelectric transformer-based high conversion ratio interface for driving dielectric actuator in microrobotic applications

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