Heading Control of a Long-Endurance Insect-Scale Aerial Robot Powered by Soft Artificial Muscles
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA(2023)
摘要
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.
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关键词
aerial insects,body saccades,effective heading control,enabling heading angle control,existing sub-gram IMAVs,flight capabilities,flight endurance,heading angle tracking accuracy,hovering flight,insect-scale microaerial-vehicles,long endurance sub-gram aerial robot,long-endurance insect-scale aerial robot,novel 3-layered wing hinges,precise heading control,rapid escape maneuvers,robot design,robot endurance,soft artificial muscles,soft-actuated IMAVs,tilted wing stroke-plane design
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