RoboFly: An Insect-Sized Robot With Simplified Fabrication That Is Capable of Flight, Ground, and Water Surface Locomotion
RoboFly: An Insect-Sized Robot With Simplified Fabrication That Is Capable of Flight, Ground, and Water Surface Locomotion
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DOI：
10.1109/tro.2021.3075374
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发表时间：
2021-12-01
影响因子：
7.8
通讯作者：
Fuller, Sawyer
中科院分区：
文献类型：
--
作者：
Chukewad, Yogesh M.;James, Johannes;Fuller, Sawyer
昆虫大小（约100毫克）的空中机器人因其体积小、重量轻和材料成本低而比大型机器人具有优势。先前的迭代版本已展示出可控飞行，但由于它们由许多组装在一起的独立部件组成，制造困难，并且除飞行外无法进行其他运动模式。本文介绍了一种74毫克振翅机器人的新设计，该设计大幅减少了部件数量并简化了制造过程。这种机器人的质心也更低，这使得机器人即使在飞行不稳定的情况下也无需长腿就能降落。我们还表明，新设计允许机翼驱动的地面和空气 - 水界面运动，提高了机器人的通用性。在表面移动过程中，通过增加振翅上挥相对于下挥的速度来产生向前的推力。调整机翼相对冲程幅度也可实现转向。在此首次展示的降落以及随后在地面移动的能力使机器人能够穿越极其狭窄的空间以及障碍物下方。我们展示了证明这些能力以及悬停飞行和可控降落的结果。
Insect-sized (similar to 100 mg) aerial robots have advantages over larger robots because of their small size, low weight, and low materials cost. Previous iterations have demonstrated controlled flight but were difficult to fabricate because they consisted of many separate parts assembled together and were also unable to perform locomotion modes besides flight. This article presents a new design of a 74-mg flapping-wing robot that dramatically reduces the number of parts and simplifies fabrication. The robot also has a lower center of mass, which allows the robot to additionally land without the need for long legs, even in case of unstable flight. We also show that the new design allows for wing-driven ground and air-water interfacial locomotion, improving the versatility of the robot. During surface ambulation, forward thrust is generated by increasing the speed of the upstroke relative to the downstroke of the flapping wings. Adjusting relative wing stroke amplitudes also allows for steering. The ability to land and subsequently move along the ground first presented here allows the robot to negotiate extremely confined spaces and underneath obstacles. We present results demonstrating these capabilities, as well as hovering flight and controlled landing.