Design, fabrication, and modeling of the split actuator microrobotic bee

Kevin, Y.; Felton, Samuel M.; Wood, Robert J.

doi:10.1109/iros.2012.6386192

Cited by 85 publications

(92 citation statements)

References 17 publications

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“…This work provides a significant stepping stone for further flight control experiments by demonstrating a simple-to-build passively stable platform upon which system dynamics characterization and active maneuvers may be performed. With control over the RoboBee's yaw (z axis) and roll (x axis) torque ( [17], [18]), arbitrary maneuvers could be performed, prolonging hovering flight indefinitely or enabling programmed trajectories.…”

Section: Discussionmentioning

confidence: 99%

A hovering flapping-wing microrobot with altitude control and passive upright stability

Teoh

Fuller

Chirarattananon

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The Harvard RoboBee is the first insect-scale flapping-wing robot weighing less than 100 mg that is able to lift its own weight. However, when flown without guide wires, this vehicle quickly tumbles after takeoff because of instability in its dynamics. Here, we show that by adding aerodynamic dampers, we can can alter the vehicle's dynamics to stabilize its upright orientation. We provide an analysis using wind tunnel experiments and a dynamic model. We demonstrate stable vertical takeoff, and using a marker-based external camera tracking system, hovering altitude control in an active feedback loop. These results provide a stable platform for both system dynamics characterization and unconstrained active maneuvers of the vehicle and represent the first known hovering demonstration of an insect-scale flapping-wing robot.

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Section: Discussionmentioning

confidence: 99%

A hovering flapping-wing microrobot with altitude control and passive upright stability

Teoh

Fuller

Chirarattananon

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…1) is an 80mg flapping-wing microrobot fabricated using the Smart Composite Microstructures (SCM) process as detailed in [4], 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November 3-7, 2013. Tokyo, Japan Fig.…”

Section: A Robot Descriptionmentioning

confidence: 99%

“…In operation, the flapping frequency is typically fixed at a value between 110 − 120Hz, near the system's resonant frequency. The robotic insect is capable of modulating the thrust force that is nominally aligned with the robot's vertical axis by altering its flapping amplitude and able to generate torques along its three body axes using different flapping schemes as shown in [4], [1]. Theoretically, this allows the robot to be controllable over the SO(3) space.…”

Section: A Robot Descriptionmentioning

confidence: 99%

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Adaptive control for takeoff, hovering, and landing of a robotic fly

Chirarattananon¹,

Kevin²,

Wood³

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Challenges for controlled flight of a robotic insect are due to the inherent instability of the system, complex fluid-structure interactions, and the general lack of a complete system model. In this paper, we propose theoretical models of the system based on the limited information available from previous work and a comprehensive adaptive flight controller that is capable of coping with uncertainties in the system. We have demonstrated that the proposed methods enable the robot to achieve sustained hovering flights with relatively small errors compared to a similar but non-adaptive approach. Furthermore, vertical takeoff and landing flights are also shown to illustrate the fidelity of the flight controller.

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“…The applications of different scales of derivative mechanisms will also change accordingly. Small-scale origami-derived mechanisms are mainly used in biomedical devices and micro-robot systems [8,9]; medium-sized origami-derived mechanisms have been adopted in flexible mechanisms, actuators, and teaching aids [10,11]; and large-scale origami-derived mechanisms are widely used in the fields of aerospace and architecture [12,13]. With the development of social economy, origami and its derivative mechanisms display broad application prospects.…”

Section: Originality Of Origami Mechanismsmentioning

confidence: 99%

Recent development on innovation design of reconfigurable mechanisms in China

Zhang

Ding

2018

Front. Mech. Eng.

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Reconfigurable mechanisms can deliberately reconfigure themselves by rearranging the connectivity of components to meet the different requirements of tasks. Metamorphic and origami-derived mechanisms are two kinds of typical reconfigurable mechanisms, which have attracted increasing attention in the field of mechanisms since they were proposed. Improving the independent design level, innovation, and international competitive powers of reconfigurable mechanical products is important. Summarizing related significant innovation research and application achievements periodically will shed light on research directions and promote academic exchanges. This paper presents an overview of recent developments in innovation design of reconfigurable mechanisms in China, including metamorphic and origami mechanisms and their typical applications. The future development trends are analyzed and forecasted.

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Design, fabrication, and modeling of the split actuator microrobotic bee

Cited by 85 publications

References 17 publications

A hovering flapping-wing microrobot with altitude control and passive upright stability

A hovering flapping-wing microrobot with altitude control and passive upright stability

Adaptive control for takeoff, hovering, and landing of a robotic fly

Recent development on innovation design of reconfigurable mechanisms in China

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