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

Z. E. Teoh; S. B. Fuller; P. Chirarattananon; N. O. Prez-Arancibia; J. D. Greenberg; R. J. Wood

doi:10.1109/IROS.2012.6386151

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

Z. E. Teoh
, S. B. Fuller
, P. Chirarattananon
, N. O. Prez-Arancibia
, J. D. Greenberg
, R. J. Wood

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

98 Citations (Scopus)

Abstract

The Harvard RoboBee is the first insect-scale cflapping-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. © 2012 IEEE.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	3209-3216
DOIs	https://doi.org/10.1109/IROS.2012.6386151
Publication status	Published - 2012
Externally published	Yes
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: 7 Oct 2012 → 12 Oct 2012 https://ieeexplore.ieee.org/xpl/conhome/6363628/proceeding

Publication series

Name
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Place	Portugal
City	Vilamoura, Algarve
Period	7/10/12 → 12/10/12
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6363628/proceeding

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10.1109/IROS.2012.6386151

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@inproceedings{3e5842c0827043848cae5b701c3878ae,

title = "A hovering flapping-wing microrobot with altitude control and passive upright stability",

abstract = "The Harvard RoboBee is the first insect-scale cflapping-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. {\textcopyright} 2012 IEEE.",

author = "Teoh, \{Z. E.\} and Fuller, \{S. B.\} and P. Chirarattananon and Prez-Arancibia, \{N. O.\} and Greenberg, \{J. D.\} and Wood, \{R. J.\}",

year = "2012",

doi = "10.1109/IROS.2012.6386151",

language = "English",

isbn = "9781467317375",

pages = "3209--3216",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

note = "25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 ; Conference date: 07-10-2012 Through 12-10-2012",

url = "https://ieeexplore.ieee.org/xpl/conhome/6363628/proceeding",

}

Teoh, ZE, Fuller, SB, Chirarattananon, P, Prez-Arancibia, NO, Greenberg, JD & Wood, RJ 2012, A hovering flapping-wing microrobot with altitude control and passive upright stability. in IEEE International Conference on Intelligent Robots and Systems., 6386151, pp. 3209-3216, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6386151

A hovering flapping-wing microrobot with altitude control and passive upright stability. / Teoh, Z. E.; Fuller, S. B.; Chirarattananon, P. et al.
IEEE International Conference on Intelligent Robots and Systems. 2012. p. 3209-3216 6386151.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Teoh, Z. E.

AU - Fuller, S. B.

AU - Chirarattananon, P.

AU - Prez-Arancibia, N. O.

AU - Greenberg, J. D.

AU - Wood, R. J.

PY - 2012

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N2 - The Harvard RoboBee is the first insect-scale cflapping-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. © 2012 IEEE.

AB - The Harvard RoboBee is the first insect-scale cflapping-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. © 2012 IEEE.

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DO - 10.1109/IROS.2012.6386151

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781467317375

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EP - 3216

BT - IEEE International Conference on Intelligent Robots and Systems

T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012

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ER -

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

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