A bioinspired approach to torque control in an insect-sized flapping-wing robot
A bioinspired approach to torque control in an insect-sized flapping-wing robot
复制标题
昆虫大小扑翼机器人中扭矩控制的仿生方法
DOI：
10.1109/biorob.2014.6913897
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
R. Wood
中科院分区：
文献类型：
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作者：
Zhi Ern Teoh;R. Wood
建立了一个微型扑翼飞行器，模仿果蝇的控制策略，间接调节机翼迎角产生偏航力矩。该样机还可以通过在具有适当相位的扑动频率下振荡机翼铰链来产生滚转扭矩。滚转，偏航和俯仰扭矩产生能力的特点是使用定制的单轴扭矩传感器。该飞行器可产生0.8 μNm左右的滚转力矩、1 μNm左右的偏航力矩和0.8 μNm左右的俯仰力矩。基于已知的惯性特性的机器人，我们估计，它是能够实现转向性能媲美果蝇。
A flapping-wing micro air vehicle was built that mimics the control strategy utilized by fruit flies which indirectly modulate wing angle of attack to generate yaw torques. This prototype could also generate roll torques by oscillating the wing hinge at the flapping frequency with an appropriate phase. The roll, yaw and pitch torque generation capability was characterized using a custom single-axis torque sensor. The vehicle could produce torques with magnitudes of 0.8/μNm, 1/μNm and 0.8/μNm of roll, yaw and pitch torque respectively. Based off the known inertial properties of the robot, we estimate that it is capable of achieving turning performances comparable to fruit flies.