Halteres for the micromechanical flying insect

Wu, Weimin; Wood, Robert J.; Fearing, Ronald S.

doi:10.1109/robot.2002.1013339

Cited by 32 publications

(27 citation statements)

References 11 publications

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“…In practice, perfect state information is not available. However, the MFI will be equipped with various sensors such as halteres (Wu et al, 2002), flow sensors and light detectors, which are currently under investigation. Therefore, future work will also address sensor modeling and output feedback.…”

Section: Discussionmentioning

confidence: 99%

Hovering Flight for a Micromechanical Flying Insect: Modeling and Robust Control Synthesis

Schenato

Deng

Sastry

2002

IFAC Proceedings Volumes

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This paper describes recent results on the design and simulation of a flight control strategy for the Micromechanical Flying Insect (MFI), a 10-25mm (wingtipto-wingtip) device capable of sustained autonomous flight. Biologically inspired by the real insect's flight maneuver, position control is achieved via attitude control. The wings motion is parameterized by a small set of parameters which are sufficient to generate desired average torques to regulate its attitude. Position control is achieved through attitude control based on the linearized dynamics under small angle assumption near hovering. At the end of each wingbeat, the controller schedules the desired wings motion parameters according to state feedback errors. With respect to our previous work (Deng et al., 2001), we explicitly included the modeling approximations into the design of the flight controller. These errors include the timevarying nature of aerodynamic forces, the input saturation and linearization errors. The proposed controller was simulated with the Virtual Insect Flight Simulator, and the results show improved performance in both position and orientation stabilization.

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Section: Discussionmentioning

confidence: 99%

Hovering Flight for a Micromechanical Flying Insect: Modeling and Robust Control Synthesis

Schenato

Deng

Sastry

2002

IFAC Proceedings Volumes

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“…Recently, preliminary prototypes of micro-electromechanical halteres have been fabricated and have shown promising results [22]. …”

Section: Halteresmentioning

confidence: 99%

Attitude Stabilization of a Biologically Inspired Robotic Housefly via Dynamic Multimodal Attitude Estimation

et al. 2009

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In this paper, we study sensor fusion for the attitude stabilization of Micro Aerial Vehicles (MAVs), in particular mechanical flying insects. Following a geometric approach, a dynamic observer is proposed which estimates attitude based on kinematic data available from different and redundant bio-inspired sensors such as halteres, ocelli, gravitometers, magnetic compass and light polarization compass. In particular, the traditional structure of complementary filters, suitable for multiple sensor fusion, is specialized to the Lie group of rigid body rotations SO(3). The filter performance based on a 3-axis accelerometer and a 3-axis gyroscope is experimentally tested on a 2 degreesof-freedom support showing its effectiveness. Finally, attitude stabilization is proposed based on a feedback scheme with dynamic estimation of the state, namely the orientation and the angular velocity. Almost-global stability of the proposed controller in the case of dynamic state estimation is demonstrated via the separation principle, and realistic numerical simulations with noisy sensors and external disturbances are provided to validate the proposed control scheme.keywords: attitude control on SO(3), separation principle, geometric control, complementary filtering, biologically inspired robots.

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“…14). However, by taking the advantage of the unique characteristics (frequency, modulation, and phase) of the Coriolis signals on the left and right halteres, a demodulation scheme has been proposed to decipher roll, pitch, and yaw angular velocities from the complex haltere forces [36]. Fig.…”

Section: Halteresmentioning

confidence: 99%

Flapping flight for biomimetic robotic insects: part II-flight control design

2006

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Abstract-This paper presents the mathematical modeling of flapping flight for inch-size micro aerial vehicles (MAVs). These vehicles, called Micromechanical Flying Insects (MFIs), are electromechanical devices propelled by a pair of independent flapping wings and are capable of sustained autonomous flight, and therefore mimic real flying insects. In particular, we describe the design and implementation of the Virtual Insect Flight Simulator (VIFS), a software tool intended for modeling true insect flight mechanisms and for testing the flight control algorithms of the MFIs. The VIFS includes models that have several elements which differ greatly from those with either larger rotary, or fixed wing MAVs. In particular, the VIFS simulates wing-thorax dynamics, the flapping flight aerodynamics at a low Reynolds number regime, and the biomimetic sensory system consisting of ocelli, halteres, magnetic compass and optical flow sensors. In this paper we present a mathematical description for each of these models based on biological principles and experimental data. All these models are designed in a modular fashion for quick upgrading and they are integrated together to give a realistic simulation for MFI flapping flight. The VIFS is intended to serve as a tool to evaluate the performance of the MFI flight control unit with an accurate low-level modeling of dynamics, actuators, sensors and environment.

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Halteres for the micromechanical flying insect

Cited by 32 publications

References 11 publications

Hovering Flight for a Micromechanical Flying Insect: Modeling and Robust Control Synthesis

Hovering Flight for a Micromechanical Flying Insect: Modeling and Robust Control Synthesis

Attitude Stabilization of a Biologically Inspired Robotic Housefly via Dynamic Multimodal Attitude Estimation

Flapping flight for biomimetic robotic insects: part II-flight control design

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