An actuated gaze stabilization platform for a flapping-wing microrobot
An actuated gaze stabilization platform for a flapping-wing microrobot
复制标题
用于扑翼微型机器人的驱动凝视稳定平台
DOI：
10.1109/icra.2017.7989637
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
R. Wood
中科院分区：
文献类型：
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作者：
Sylvain Mange;E. F. Helbling;N. Gravish;R. Wood
机载视觉传感是微尺度机器人技术的一个挑战。小型扑翼机器人（如RoboBee）对机载视觉传感器的功率、重量和图像质量存在显著限制。在这里，我们报告了一个1 × 1 × 1.7 mm的摄像头，能够在飞行中进行视频捕获的集成。受昆虫凝视稳定的启发，我们设计并制造了一个连接到RoboBee顶部的单自由度机构，可实现−41°至+60°的输出角度。我们执行开环滚转机动，并演示在飞行过程中的凝视角度的初始控制。这是第一次使用相机在自由飞行在这个规模。
Onboard vision sensing is a current challenge in micro-scale robotics. Small flapping-wing robots such as the RoboBee present significant constraints on power, weight, and image quality for an onboard vision sensor. Here we report the integration of a 1 × 1 × 1.7 mm camera capable of video capture in flight. Inspired by gaze stabilization in insects, we designed and fabricated a one degree of freedom mechanism attached to the top of the RoboBee that achieves output angles of −41° to +60°. We perform open-loop roll maneuvers and demonstrate initial control of the gaze angle during flight. This represents the first use of a camera in free flight at this scale.