ICRA 2011 Paper Abstract


Paper TuA101.1

Hines, Lindsey (Carnegie Mellon University), Arabagi, Veaceslav (Carnegie Mellon University), Sitti, Metin (Carnegie Mellon University)

Free Flight Simulations and Pitch and Roll Control Experiments of a Sub-Gram Flapping-Flight Micro Aerial Vehicle

Scheduled for presentation during the Regular Sessions "Aerial Robotics I" (TuA101), Tuesday, May 10, 2011, 08:20−08:35, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Aerial Robotics, Biologically-Inspired Robots, Micro/Nano Robots


Flapping-flight micro aerial vehicles (MAVs) pose an ongoing design problem to the scientific community, requiring careful consideration of both body structure and force production. Here, we examine a flapping MAV prototype with a passively rotating wing design. While at the current scale the lift force produced is not enough for liftoff, observing its performance under roll and pitch control can lead to insights on both the body design and eventual free-flight implementation. As the production of roll and pitch torques are primarily uncoupled for this design, PID control is implemented in the roll and pitch directions individually on a custom designed single degree of freedom rig. By doing so, we show that the body structure is capable of sustaining independent wing amplitudes and that actuator input voltage bias shifting is successful experimentally on a dynamically driven wing. Through force compensation, the experimentally tested controller is mapped to a half scale simulated system, theoretically capable of free-flight. Though initial simulation results suggest high sensitivity to feedback noise, simulations show that decoupled roll and pitch controllers have potential as a minimal computational means for hovering and translational motion.



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