ICRA'09 Paper Abstract


Paper FrD11.3

Han, Shuo (California Institute of Technology), Straw, Andrew D (California Institute of Technology), Dickinson, Michael (California Institute of Technology), Murray, Richard (California Institute of Technology)

A Real-Time Helicopter Testbed for Insect-Inspired Visual Flight Control

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots - IV" (FrD11), Friday, May 15, 2009, 16:10−16:30, Room: 503

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Biologically-Inspired Robots, Aerial Robotics, Computer Vision for Robotics and Automation


The paper describes an indoor helicopter testbed that allows implementing and testing of bio-inspired control algorithms developed from scientific studies on insects. The helicopter receives and is controlled by simulated sensory inputs (e.g. visual stimuli) generated in a virtual 3D environment, where the connection between the physical world and the virtual world is provided by a video camera tracking system. The virtual environment is specified by a 3D computer model and is relatively simple to modify compared to realistic scenes. This enables rapid examinations of whether a certain control law is robust under various environments, an important feature of insect behavior. As a first attempt, flight stabilization and yaw rate control near hover are demonstrated, utilizing biologically realistic visual stimuli as in the fruit fly Drosophila melanogaster.



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