First controlled vertical flight of a biologically inspired microrobot

Area of Science:

• Robotics
• Aerospace Engineering
• Bio-inspired Engineering

Background:

• Microrobots offer potential for diverse applications but face challenges in autonomous flight control.
• Precise altitude control is critical for the functionality and mission success of flying microrobots.

Purpose of the Study:

• To present experimental results and a methodology for achieving robust altitude control in a flying microrobot.
• To demonstrate a two-stage approach for designing a vertical flight controller for bio-inspired microrobots.

Main Methods:

• System identification of key microrobot subsystems was conducted using a static flapping experimental setup.
• A novel controller was designed by treating an exciting signal as an integral subsystem of the microrobot.
• The controller design leveraged data obtained from the static flapping experiments for vertical flight applications.

Main Results:

• Experimental validation of the proposed two-stage control system for microrobot altitude.
• Successful implementation of a controller designed through system identification and novel subsystem integration.
• Demonstrated progress towards autonomous vertical flight capabilities in bio-inspired microrobots.

Conclusions:

• The presented methodology provides a viable pathway for enhancing altitude control in flying microrobots.
• The integration of system identification and a novel controller design is effective for autonomous flight.
• This research represents a significant advancement in the pursuit of fully autonomous bio-inspired flying microrobots.