First controlled vertical flight of a biologically inspired microrobot

TLDR

The methods and results presented here are a key step toward achieving total autonomy of bio‑inspired flying microrobots. The authors use a two‑stage approach, first identifying two subsystems via static flapping experiments, then designing a controller for vertical flight that treats an exciting signal as a microrobot subsystem. Experimental results demonstrate altitude control of a flying microrobot.

Abstract

In this paper, we present experimental results on altitude control of a flying microrobot. The problem is approached in two stages. In the first stage, system identification of two relevant subsystems composing the microrobot is performed, using a static flapping experimental setup. In the second stage, the information gathered through the static flapping experiments is employed to design the controller used in vertical flight. The design of the proposed controller relies on the idea of treating an exciting signal as a subsystem of the microrobot. The methods and results presented here are a key step toward achieving total autonomy of bio-inspired flying microrobots.