Development of a 3.2g untethered flapping-wing platform for flight energetics and control experiments

Rosen, Michelle H.; Pivain, Geoffroy le; Sahai, Ranjana; Jafferis, Noah T.; Wood, Robert J.

doi:10.1109/icra.2016.7487492

Cited by 30 publications

(25 citation statements)

References 17 publications

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“…Motors typically operate at low voltages amenable to standard off-the-shelf motor drivers, eliminating the need for complex power electronics. Recent vehicle designs that have utilized electromagnetic motors include the Harvard Robot Moth [11], Aerovironment's Nanohummingbird [3], the NYU Jellyfish Flyer [13], and the CMU flapping wing MAV [28].…”

Section: Actuation and Power Electronicsmentioning

confidence: 99%

“…To reduce the number of actuators necessary for varying wing morphology, many researchers use a wing hinge that allows the wing to passively pitch due to the inertial and aerodynamic forces on the wing during the wing stroke, eliminating an actuator to control wing rotation. Examples include the Harvard Robot Moth [11], the electromagnetic flyer from Ref. [17], and the CMU vehicles [12].…”

Section: Articulated Control Surfaces and Modification Ofmentioning

confidence: 99%

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A Review of Propulsion, Power, and Control Architectures for Insect-Scale Flapping-Wing Vehicles

Helbling

Wood

2018

Applied Mechanics Reviews

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Flying insects are able to navigate complex and highly dynamic environments, can rapidly change their flight speeds and directions, are robust to environmental disturbances, and are capable of long migratory flights. However, flying robots at similar scales have not yet demonstrated these characteristics autonomously. Recent advances in mesoscale manufacturing, novel actuation, control, and custom integrated circuit (IC) design have enabled the design of insect-scale flapping wing micro air vehicles (MAVs). However, there remain numerous constraints to component technologies—for example, scalable high-energy density power storage—that limit their functionality. This paper highlights the recent developments in the design of small-scale flapping wing MAVs, specifically discussing the various power and actuation technologies selected at various vehicle scales as well as the control architecture and avionics onboard the vehicle. We also outline the challenges associated with creating an integrated insect-scale flapping wing MAV.

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Section: Actuation and Power Electronicsmentioning

confidence: 99%

Section: Articulated Control Surfaces and Modification Ofmentioning

confidence: 99%

A Review of Propulsion, Power, and Control Architectures for Insect-Scale Flapping-Wing Vehicles

Helbling

Wood

2018

Applied Mechanics Reviews

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“…Small birds and insects are good objects to mimic for developing a micro air vehicle (MAV) for stable flight at low Reynolds fluid [1][2][3][4][5][6][7]. The RoboBee developed by researchers at Harvard [1], the robot hummingbird of DARPA [2], the beetle robot of Konkuk University [3], and the tailless aerial robot inspired by the flies of Delft [7] are representative robots developed by mimicking the flight of small birds and insects.…”

Section: Introductionmentioning

confidence: 99%

“…The reason is because not only is the structure complex, such that the weight of the airframe increases, and friction and torsion occur to a large extent, but additional energy is also required to generate wing rotation. On the other hand, the passive rotation mechanism has a relatively simple structure and is widely used in the development of MAV [1][2][3][4][5]25,26]. A passive rotation mechanism has also been developed to control the magnitude of the angle of attack by adding degrees of freedom to the wing roots in a passive rotation mechanism in which the wing's membrane is loosely constructed.…”

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confidence: 99%

Design of Wing Root Rotation Mechanism for Dragonfly-Inspired Micro Air Vehicle

Jang

Yang

2018

Applied Sciences

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This paper proposes a wing root control mechanism inspired by the drag-based system of a dragonfly. The previous mechanisms for generating wing rotations have high controllability of the angle of attack, but the structures are either too complex or too simple, and the control of the angle of attack is insufficient. In order to overcome these disadvantages, a wing root control mechanism was designed to improve the control of the angle of attack by controlling the mean angle of attack in a passive rotation mechanism implemented in a simple structure. Links between the proposed mechanism and a spatial four-bar link-based flapping mechanism were optimized for the design, and a prototype was produced by a 3D printer. The kinematics and aerodynamics were measured using the prototype, a high-speed camera, and an F/T sensor. In the measured kinematics, the flapping amplitude was found to be similar to the design value, and the mean angle of attack increased by approximately 30° at a wing root angle of 0°. In the aerodynamic analysis, the drag-based system implemented using the wing root control mechanism reduced the amplitude of the force in the horizontal direction to approximately 0.15 N and 0.1 N in the downstroke and upstroke, respectively, compared with the lift-based system. In addition, at an inclined stroke angle, the force in the horizontal direction increased greatly when the wing root angle was 0° at the inclined stroke angle, while the force in the vertical direction increased greatly at a wing root angle of 30°. This means that the flight mode can be controlled by controlling the wing root angle. As a result, it is shown that the wing root control mechanism can be applied to the MAV (micro air vehicle) to stabilize hovering better than the MAV using a lift-based system and can control the flight mode without changing the posture.

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“…Such flows are especially difficult to characterize at insect scales, where robot components and force variations can be on the orders of millimeters and micronewtons, respectively. Nonetheless, several at-scale experiments studying fluid flow around small wings (5) and characterizing various wing parameters (6) have quantified some of the effects, and these results have enabled the successful development of insect-scale flying robots (7,8).…”

Section: Introductionmentioning

confidence: 99%

Autonomous Flight

Tang

Kumar

2018

Annu. Rev. Control Robot. Auton. Syst.

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This review surveys the current state of the art in the development of unmanned aerial vehicles, focusing on algorithms for quadrotors. Tremendous progress has been made across both industry and academia, and full vehicle autonomy is now well within reach. We begin by presenting recent successes in control, estimation, and trajectory planning that have enabled agile, highspeed flight using low-cost onboard sensors. We then examine new research trends in learning and multirobot systems and conclude with a discussion of open challenges and directions for future research. 6.1

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Development of a 3.2g untethered flapping-wing platform for flight energetics and control experiments

Cited by 30 publications

References 17 publications

A Review of Propulsion, Power, and Control Architectures for Insect-Scale Flapping-Wing Vehicles

A Review of Propulsion, Power, and Control Architectures for Insect-Scale Flapping-Wing Vehicles

Design of Wing Root Rotation Mechanism for Dragonfly-Inspired Micro Air Vehicle

Autonomous Flight

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