A Lightweight High-Voltage Boost Circuit for Soft-Actuated Micro-Aerial-robots
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA(2023)
摘要
Flight is an energetically expensive task. While aerial insects can effortlessly fly through natural environments, achieving power autonomous flights in insect-scale robots remains a major challenge. In prior works, we developed soft-actuated insect-scale aerial robots that demonstrated unique capabilities such as in-flight collision recovery and somersaults. However, the soft dielectric elastomer actuators (DEAs) have low efficiency (< 20%) and require a high driving voltage (>600 V). These properties represent formidable obstacles for soft aerial robots to achieve power autonomous flights. In this work, we developed a 127 mg boost circuit that can convert a 7.7 V DC input into a 600 V and 400 Hz output for driving a 120 mg DEA. It has an equivalent capacitance and resistance of 20 nF and 5 $\mathbf{k}\Omega$ , respectively. The DEA is assembled into a 158 mg aerial robot, which can demonstrate liftoff while carrying the boost circuit as a payload. Although the robot remains tethered to an off-board power supply, this result represents a first step towards achieving power autonomy in soft aerial robots.
更多查看译文
关键词
aerial insects,boost circuit,DEA,energetically expensive task,high-voltage boost circuit,in-flight collision recovery,insect-scale robots,microaerial-robots,power autonomous flights,soft dielectric elastomer actuators,soft-actuated insect-scale aerial robots
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要