DocumentCode :
3709068
Title :
Wind disturbance rejection for an insect-scale flapping-wing robot
Author :
Pakpong Chirarattananon;Kevin Y. Ma;Richard Cheng;Robert J. Wood
Author_Institution :
Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong
fYear :
2015
fDate :
9/1/2015 12:00:00 AM
Firstpage :
60
Lastpage :
67
Abstract :
Despite having achieved unconstrained stable flight, the insect-scale flapping-wing robot is still tethered for power and control. Towards the goal of operating a biologically-inspired robot autonomously outside of laboratory conditions. In this paper, we simulate outdoor disturbances in the laboratory setting and investigate the effects of wind gusts on the flight dynamics of a millimeter-scale flapping wing robot. Simplified models describing the disturbance effects on the robot´s dynamics are proposed, together with two disturbance rejection schemes capable of estimating and compensating for the disturbances. The proposed methods are experimentally verified. The results show that they reduced the root mean square position errors by approximately 50% when the robot was subject to 60 cm·s-1 horizontal wind.
Keywords :
"Aerodynamics","Vehicle dynamics","Torque","Mathematical model","Robot sensing systems","Robot kinematics"
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Type :
conf
DOI :
10.1109/IROS.2015.7353355
Filename :
7353355
Link To Document :
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