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arXiv · 1910.11911

Control of Flying Robotic Insects: A Perspective and Unifying Approach

A. A. Calderón·Y. Chen·X. Yang·L. Chang·X. -T. Nguyen·E. K. Singer·N. O. Pérez-Arancibia
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Abstract

We discuss the problem of designing and implementing controllers for insect-scale flapping-wing micro air vehicles (FWMAVs), from a unifying perspective and employing two different experimental platforms; namely, a Harvard RoboBee-like two-winged robot and the four-winged USC Bee+. Through experiments, we demonstrate that a method that employs quaternion coordinates for attitude control, developed to control quadrotors, can be applied to drive both robotic insects considered in this work. The proposed notion that a generic strategy can be used to control several types of artificial insects with some common characteristics was preliminarily tested and validated using a set of experiments, which include position- and attitude-controlled flights. We believe that the presented results are interesting and valuable from both the research and educational perspectives.

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A. A. Calderón, Y. Chen, X. Yang, L. Chang, X. -T. Nguyen, E. K. Singer, N. O. Pérez-Arancibia. 2019-10-25. Control of Flying Robotic Insects: A Perspective and Unifying Approach. https://arxiv.org/abs/1910.11911

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