Body torque modulation for a microrobotic fly
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Bounded attitude control of a flapping wing micro aerial vehicle using direct sensors measurements
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Research issues in biological inspired flying robots
MIC '08 Proceedings of the 27th IASTED International Conference on Modelling, Identification and Control
Research issues in biological inspired sensors for flying robots
MIC '08 Proceedings of the 27th IASTED International Conference on Modelling, Identification and Control
Data Collection in Wireless Sensor Networks with Mobile Elements: A Survey
ACM Transactions on Sensor Networks (TOSN)
Programming micro-aerial vehicle swarms with karma
Proceedings of the 9th ACM Conference on Embedded Networked Sensor Systems
Bounded control of an underactuated biomimetic aerial vehicle-Validation with robustness tests
Robotics and Autonomous Systems
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
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This paper presents the mathematical modeling of flapping flight inch-size micro aerial vehicles (MAVs), namely micromechanical flying insects (MFIs). The target robotic insects are electromechanical devices propelled by a pair of independent flapping wings to achieve sustained autonomous flight, thereby mimicking real insects. In this paper, we describe the system dynamic models which include several elements that are substantially different from those present in fixed or rotary wing MAVs. These models include the wing-thorax dynamics, the flapping flight aerodynamics at a low Reynolds number regime, the body dynamics, and the biomimetic sensory system consisting of ocelli, halteres, magnetic compass, and optical flow sensors. The mathematical models are developed based on biological principles, analytical models, and experimental data. They are presented in the Virtual Insect Flight Simulator (VIFS) and are integrated together to give a realistic simulation for MFI and insect flight. VIFS is a software tool intended for modeling flapping flight mechanisms and for testing and evaluating the performance of different flight control algorithms