{"title":"柔性人工肌肉驱动的昆虫级长航时空中机器人的航向控制","authors":"Y. Hsiao, Suhan Kim, Zhijian Ren, Yufeng Chen","doi":"10.1109/ICRA48891.2023.10161547","DOIUrl":null,"url":null,"abstract":"Aerial insects demonstrate fast and precise heading control when they perform body saccades and rapid escape maneuvers. While insect-scale micro-aerial-vehicles (IMAVs) have demonstrated early results on heading control, their flight endurance and heading angle tracking accuracy remain far inferior to that of natural fliers. In this work, we present a long endurance sub-gram aerial robot that can demonstrate effective heading control during hovering flight. Through using a tilted wing stroke-plane design, our robot demonstrates a 10-second flight where it tracks a desired yaw trajectory with maximum and root-mean-square (RMS) error of $\\boldsymbol{14.2^{\\circ}}$ and $\\boldsymbol{5.8}^{\\mathrm{o}}$. The new robot design requires 7% higher lift forces for enabling heading angle control, which creates higher stress on wing hinges and adversely influences robot endurance. To address this challenge, we developed novel 3-layered wing hinges that exhibit 1.82 times improvement of lifetime. With the new wing hinges, our robot demonstrates a 40-second hovering flight - the longest among existing sub-gram IMAVs. These results represent substantial improvement of flight capabilities in soft-actuated IMAVs, showing the potential of operating these insect-like fliers in cluttered natural environments.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Heading Control of a Long-Endurance Insect-Scale Aerial Robot Powered by Soft Artificial Muscles\",\"authors\":\"Y. Hsiao, Suhan Kim, Zhijian Ren, Yufeng Chen\",\"doi\":\"10.1109/ICRA48891.2023.10161547\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Aerial insects demonstrate fast and precise heading control when they perform body saccades and rapid escape maneuvers. While insect-scale micro-aerial-vehicles (IMAVs) have demonstrated early results on heading control, their flight endurance and heading angle tracking accuracy remain far inferior to that of natural fliers. In this work, we present a long endurance sub-gram aerial robot that can demonstrate effective heading control during hovering flight. Through using a tilted wing stroke-plane design, our robot demonstrates a 10-second flight where it tracks a desired yaw trajectory with maximum and root-mean-square (RMS) error of $\\\\boldsymbol{14.2^{\\\\circ}}$ and $\\\\boldsymbol{5.8}^{\\\\mathrm{o}}$. The new robot design requires 7% higher lift forces for enabling heading angle control, which creates higher stress on wing hinges and adversely influences robot endurance. To address this challenge, we developed novel 3-layered wing hinges that exhibit 1.82 times improvement of lifetime. With the new wing hinges, our robot demonstrates a 40-second hovering flight - the longest among existing sub-gram IMAVs. These results represent substantial improvement of flight capabilities in soft-actuated IMAVs, showing the potential of operating these insect-like fliers in cluttered natural environments.\",\"PeriodicalId\":360533,\"journal\":{\"name\":\"2023 IEEE International Conference on Robotics and Automation (ICRA)\",\"volume\":\"80 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-05-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 IEEE International Conference on Robotics and Automation (ICRA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICRA48891.2023.10161547\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 IEEE International Conference on Robotics and Automation (ICRA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA48891.2023.10161547","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Heading Control of a Long-Endurance Insect-Scale Aerial Robot Powered by Soft Artificial Muscles
Aerial insects demonstrate fast and precise heading control when they perform body saccades and rapid escape maneuvers. While insect-scale micro-aerial-vehicles (IMAVs) have demonstrated early results on heading control, their flight endurance and heading angle tracking accuracy remain far inferior to that of natural fliers. In this work, we present a long endurance sub-gram aerial robot that can demonstrate effective heading control during hovering flight. Through using a tilted wing stroke-plane design, our robot demonstrates a 10-second flight where it tracks a desired yaw trajectory with maximum and root-mean-square (RMS) error of $\boldsymbol{14.2^{\circ}}$ and $\boldsymbol{5.8}^{\mathrm{o}}$. The new robot design requires 7% higher lift forces for enabling heading angle control, which creates higher stress on wing hinges and adversely influences robot endurance. To address this challenge, we developed novel 3-layered wing hinges that exhibit 1.82 times improvement of lifetime. With the new wing hinges, our robot demonstrates a 40-second hovering flight - the longest among existing sub-gram IMAVs. These results represent substantial improvement of flight capabilities in soft-actuated IMAVs, showing the potential of operating these insect-like fliers in cluttered natural environments.