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dc.contributor.advisorWood, Robert J.
dc.contributor.authorFinio, Benjamin
dc.date.accessioned2012-11-19T16:24:05Z
dash.embargo.terms2012-12-18en_US
dash.embargo.terms2012-12-18
dc.date.issued2012-11-19
dc.date.submitted2012
dc.identifier.citationFinio, Benjamin. 2012. Roll, Pitch and Yaw Torque Control for a Robotic Bee. Doctoral dissertation, Harvard University.en_US
dc.identifier.otherhttp://dissertations.umi.com/gsas.harvard:10218en
dc.identifier.urihttp://nrs.harvard.edu/urn-3:HUL.InstRepos:9920663
dc.description.abstractIn 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.sponsorshipEngineering and Applied Sciencesen_US
dc.language.isoen_USen_US
dash.licenseLAA
dc.subjectMAVen_US
dc.subjectrobotic insecten_US
dc.subjectroboticsen_US
dc.subjectmechanical engineeringen_US
dc.subjectengineeringen_US
dc.subjectmicro air vehicleen_US
dc.subjectrobobeeen_US
dc.titleRoll, Pitch and Yaw Torque Control for a Robotic Beeen_US
dc.typeThesis or Dissertationen_US
dc.date.available2012-12-18T08:30:29Z
thesis.degree.date2012en_US
thesis.degree.disciplineEngineering Sciencesen_US
thesis.degree.grantorHarvard Universityen_US
thesis.degree.leveldoctoralen_US
thesis.degree.namePh.D.en_US
dc.contributor.committeeMemberWalsh, Conoren_US
dc.contributor.committeeMemberCombes, Staceyen_US
dc.contributor.committeeMemberMahadevan, L.en_US


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