Wind disturbance rejection for an insect-scale flapping-wing robot

Pakpong Chirarattananon; Kevin Y. Ma; Richard Cheng; Robert J. Wood

doi:10.1109/IROS.2015.7353355

Wind disturbance rejection for an insect-scale flapping-wing robot

Pakpong Chirarattananon, Kevin Y. Ma, Richard Cheng, Robert J. Wood

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

10 Citations (Scopus)

Abstract

Despite having achieved unconstrained stable flight, the insect-scale flapping-wing robot is still tethered for power and control. Towards the goal of operating a biologically-inspired robot autonomously outside of laboratory conditions. In this paper, we simulate outdoor disturbances in the laboratory setting and investigate the effects of wind gusts on the flight dynamics of a millimeter-scale flapping wing robot. Simplified models describing the disturbance effects on the robot's dynamics are proposed, together with two disturbance rejection schemes capable of estimating and compensating for the disturbances. The proposed methods are experimentally verified. The results show that they reduced the root mean square position errors by approximately 50% when the robot was subject to 60 cm·s^-1 horizontal wind.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	60-67
Volume	2015-December
ISBN (Print)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353355
Publication status	Published - 11 Dec 2015
Event	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 http://www.iros2015.org (unknown)

Publication series

Name
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Place	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	http://www.iros2015.org (unknown)

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@inproceedings{4041a5016d26446a9bc40202e3d90c96,

title = "Wind disturbance rejection for an insect-scale flapping-wing robot",

abstract = "Despite having achieved unconstrained stable flight, the insect-scale flapping-wing robot is still tethered for power and control. Towards the goal of operating a biologically-inspired robot autonomously outside of laboratory conditions. In this paper, we simulate outdoor disturbances in the laboratory setting and investigate the effects of wind gusts on the flight dynamics of a millimeter-scale flapping wing robot. Simplified models describing the disturbance effects on the robot's dynamics are proposed, together with two disturbance rejection schemes capable of estimating and compensating for the disturbances. The proposed methods are experimentally verified. The results show that they reduced the root mean square position errors by approximately 50% when the robot was subject to 60 cm·s-1 horizontal wind.",

author = "Pakpong Chirarattananon and Ma, {Kevin Y.} and Richard Cheng and Wood, {Robert J.}",

year = "2015",

month = dec,

day = "11",

doi = "10.1109/IROS.2015.7353355",

language = "English",

isbn = "9781479999941",

volume = "2015-December",

publisher = "IEEE",

pages = "60--67",

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

address = "United States",

note = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) ; Conference date: 28-09-2015 Through 02-10-2015",

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Chirarattananon, P, Ma, KY, Cheng, R & Wood, RJ 2015, Wind disturbance rejection for an insect-scale flapping-wing robot. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353355, IEEE, pp. 60-67, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353355

Wind disturbance rejection for an insect-scale flapping-wing robot. / Chirarattananon, Pakpong; Ma, Kevin Y.; Cheng, Richard et al.
IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December IEEE, 2015. p. 60-67 7353355.

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

TY - GEN

T1 - Wind disturbance rejection for an insect-scale flapping-wing robot

AU - Chirarattananon, Pakpong

AU - Ma, Kevin Y.

AU - Cheng, Richard

AU - Wood, Robert J.

PY - 2015/12/11

Y1 - 2015/12/11

N2 - Despite having achieved unconstrained stable flight, the insect-scale flapping-wing robot is still tethered for power and control. Towards the goal of operating a biologically-inspired robot autonomously outside of laboratory conditions. In this paper, we simulate outdoor disturbances in the laboratory setting and investigate the effects of wind gusts on the flight dynamics of a millimeter-scale flapping wing robot. Simplified models describing the disturbance effects on the robot's dynamics are proposed, together with two disturbance rejection schemes capable of estimating and compensating for the disturbances. The proposed methods are experimentally verified. The results show that they reduced the root mean square position errors by approximately 50% when the robot was subject to 60 cm·s-1 horizontal wind.

AB - Despite having achieved unconstrained stable flight, the insect-scale flapping-wing robot is still tethered for power and control. Towards the goal of operating a biologically-inspired robot autonomously outside of laboratory conditions. In this paper, we simulate outdoor disturbances in the laboratory setting and investigate the effects of wind gusts on the flight dynamics of a millimeter-scale flapping wing robot. Simplified models describing the disturbance effects on the robot's dynamics are proposed, together with two disturbance rejection schemes capable of estimating and compensating for the disturbances. The proposed methods are experimentally verified. The results show that they reduced the root mean square position errors by approximately 50% when the robot was subject to 60 cm·s-1 horizontal wind.

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DO - 10.1109/IROS.2015.7353355

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

SN - 9781479999941

VL - 2015-December

SP - 60

EP - 67

BT - IEEE International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)

Y2 - 28 September 2015 through 2 October 2015

ER -

Wind disturbance rejection for an insect-scale flapping-wing robot

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