Roll, Pitch and Yaw Torque Control for a Robotic Bee

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Roll, Pitch and Yaw Torque Control for a Robotic Bee

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dc.contributor.advisor Wood, Robert J.
dc.contributor.author Finio, Benjamin
dc.date.accessioned 2012-11-19T16:24:05Z
dash.embargo.terms 2012-12-18 en_US
dash.embargo.terms 2012-12-18
dc.date.issued 2012-11-19
dc.date.submitted 2012
dc.identifier.other http://dissertations.umi.com/gsas.harvard:10218 en
dc.identifier.uri http://nrs.harvard.edu/urn-3:HUL.InstRepos:9920663
dc.description.abstract In the last decade, the robotics community has pushed to develop increasingly small, autonomous flapping-wing robotic vehicles for a variety of civilian and military applications. The miniaturization of these vehicles has pushed the boundaries of technology in many areas, including electronics, artificial intelligence, and mechanics; as well as our understanding of biology. In particular, at the insect scale, fabrication, actuation, and flight control of a flapping-wing robot become especially challenging. This thesis addresses these challenges in the context of the “RoboBee” project, which has the goal of creating an autonomous swarm of at-scale robotic bees. A 100mg robot with a 3cm wingspan capable of generating roll, pitch and yaw torques in the range of \(\pm 1\mu Nm\) by using a large, central power actuator to flap the wings and smaller control actuators to steer is presented. A dynamic model is used to predict torque generation capabilities, and custom instrumentation is developed to measure and characterize the vehicle’s control torques. Finally, controlled flight experiments are presented, and the vehicle is capable of maintaining a stable pitch and roll attitude during ascending vertical flight. This is the first successful controlled flight of a truly insect-scale flapping-wing robot. en_US
dc.description.sponsorship Engineering and Applied Sciences en_US
dc.language.iso en_US en_US
dash.license LAA
dc.subject MAV en_US
dc.subject robotic insect en_US
dc.subject robotics en_US
dc.subject mechanical engineering en_US
dc.subject engineering en_US
dc.subject micro air vehicle en_US
dc.subject robobee en_US
dc.title Roll, Pitch and Yaw Torque Control for a Robotic Bee en_US
dc.type Thesis or Dissertation en_US
dc.date.available 2012-12-18T08:30:29Z
thesis.degree.date 2012 en_US
thesis.degree.discipline Engineering Sciences en_US
thesis.degree.grantor Harvard University en_US
thesis.degree.level doctoral en_US
thesis.degree.name Ph.D. en_US
dc.contributor.committeeMember Walsh, Conor en_US
dc.contributor.committeeMember Combes, Stacey en_US
dc.contributor.committeeMember Mahadevan, L. en_US

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Finio_gsas.harvard_0084L_10218.pdf 15.37Mb PDF View/Open
Test92RollControlPitchControl_small.mov 5.709Mb QuickTime video View/Open
IROS12_0175_VI_i.mpg 8.581Mb MPEG video View/Open

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