Body torque modulation for a microrobotic fly

Authors:
Benjamin M. Finio;Jessica K. Shang;Robert J. Wood
Affiliations:
School of Engineering and Applied Sciences, Harvard University, Cambridge, MA;School of Engineering and Applied Sciences, Harvard University, Cambridge, MA;School of Engineering and Applied Sciences, Harvard University, Cambridge, MA
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 3
Cited 2

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Asymmetric flapping for a robotic fly using a hybrid power-control actuator

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Abstract

The Harvard Microrobotics Lab has previously demonstrated the world's first at-scale robotic insect capable of vertical takeoff with external power. Both of the robot's wings were driven by a single power actuator and 1-DOF mechanical transmission - making independent control of both wings, and therefore asymmetric flapping and the generation of a net body torque, impossible. This paper presents a method to modulate body torques by altering the kinematics of each wing transmission independently, via the introduction of two additional control actuators. Theoretical kinematic and dynamic predictions based on a pseudo-rigid body model are compared to the observed wing trajectories. Controllable body torques are necessary for the development of control algorithms for eventual stable hovering and free flight.