Takeoff of a 2.1 g Fully Untethered Tailless Flapping-Wing Micro Aerial Vehicle With Integrated Battery

被引：5
作者：
Ozaki, Takashi [1 ]
Ohta, Norikazu [1 ]
Jimbo, Tomohiko [2 ]
Hamaguchi, Kanae [1 ]
机构：
[1] Toyota Cent Res & Dev Labs Inc, Frontier Res Domain, Nagakute, Aichi 4801192, Japan
[2] Toyota Cent Res & Dev Labs Inc, Cloud Infomat Res Domain, Nagakute, Aichi 4801192, Japan
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2023年 / 8卷 / 06期
关键词：
Actuators; Batteries; Aerospace electronics; Aircraft; RLC circuits; Switches; Robot sensing systems; Aerial systems; mechanics and control; biologically-inspired robots; biomimetics; FLIGHT; ROBOT;
D O I：
10.1109/LRA.2023.3269319
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Insect-scale micro-aerial vehicles (MAV) are becoming increasingly important for sensing and mapping spatially constrained environments. However, achieving untethered flight powered by a small and lightweight on-board energy source remains a challenge. In this study, we successfully demonstrated the untethered takeoff of a flapping-wing MAV powered by a commercially available LiPo battery for a short duration without stability control. By incorporating a high-efficiency direct-drive piezoelectric actuator, and an optimized control circuit for high-impedance-width modulation and charge recovery, this electronics configuration realizes over 5 min of practical operation with a thrust of 1.5 times its own weight, while offering wireless communication capability and sensors for attitude estimation. Our MAV has a total mass of 2.1 g, which is an eight-fold reduction compared to the lightest battery-powered tailless flapping-wing MAV currently available, making this the first report of a battery-powered tailless flapping-wing MAV with insect-scale weight.
引用
收藏
页码：3574 / 3580
页数：7
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