MFI Project Publications

Micromechanical Flying Insect

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Biomimetic Millisystems Home

2007

Microrobot design using fiber reinforced composites,
R.J. Wood, S. Avadhanula, R. Sahai, E. Steltz, R.S. Fearing,
accepted to ASME Journal of Mechanical Design, June 2007.
High Lift Force with 275 Hz Wing Beat in MFI,
E. Steltz, S. Avadhanula and R.S. Fearing,
IEEE Int. Conf. on Intelligent Robots and Systems, San Diego, Oct. 2007.
Dynamometer Power Output Measurements of Piezoelectric Actuators,
E. Steltz and R.S. Fearing,
IEEE Int. Conf. on Intelligent Robots and Systems, San Diego, Oct. 2007.
2006
Power Electronics Design Choice for Piezoelectric Microrobots,
E. Steltz, M. Seeman, S. Avadhanula, and R.S. Fearing,
Int. Conf. on Intelligent Robots and Systems, Beijing, China Oct.9-13, 2006.
Flapping Flight for Biomimetic Robotic Insects: Part I- System Modeling
X. Deng, L. Schenato, W-C. Wu, and S. Sastry,
IEEE Trans. on Robotics, vol. 22, no. 4, August 2006.
Flapping Flight for Biomimetic Robotic Insects: Part II- Flight Control Design
X. Deng, L. Schenato, W-C. Wu, and S. Sastry,
IEEE Trans. on Robotics, vol. 22, no. 4, August 2006.
2005
Design, Fabrication and Initial Results of a 2g Autonomous Glider
R.J. Wood, S. Avadhanula, E. Steltz, M. Seeman, J. Entwistle, A. Bachrach, G. Barrows, S. Sanders, and R.S. Fearing,
31st Annual Conference, IEEE Industrial Electronics Society 2005 Meeting, Raleigh North Carolina, Nov. 6-10, 2005.
Nonlinear Performance Limits for High Energy Density Piezoelectric Bending Actuators
R.J. Wood, E. Steltz, and R.S. Fearing,
IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.
Flexure Design Rules for Carbon Fiber Microrobotic Mechanisms,
S. Avadhanula and R.S. Fearing,
IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.
Characterization of the Micromechanical Flying Insect by Optical Position Sensing,
E. Steltz, S. Avadhanula, R.J. Wood, and R.S. Fearing,
IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.
Optimal Energy Density Piezoelectric Bending Actuators
R.J. Wood, E. Steltz, and R.S. Fearing
Sensors and Actuators, Vol 119/2 pp 476-488, 2005.
2004
Attitude Control for a Micromechanical Flying Insect via Sensor Output Feedback,
L.Schenato and W.C. Wu and S.S. Sastry,
IEEE Journal of Robotics and Automation, vol. 20, no. 1, pp. 93-106, Feb. 2004.
2003
Efficient Charge Recovery Method for Driving Piezoelectric Actuators in Low Power Applications,
D. Campolo, M. Sitti, and R.S. Fearing,
IEEE Trans. on Ultrasonics, Ferroelectrics and Frequency Control vol. 50, no.3, pp. 237-244, Mar. 2003.
Microrobotics using Composite Materials: the Micromechanical Flying Insect Thorax,
R.J. Wood, S. Avadhanula, and R.S. Fearing,
IEEE Int. Conf. on Robotics and Automation 2003, pp. 1842-1849, Taipei, Taiwan.
Development of Piezoelectric Bending Actuators with Embedded Piezoelectric Sensors for Micromechanical Flapping Mechanisms,
D. Campolo, R. Sahai, R. S. Fearing,
ICRA 2003, pp. 3339-3346, Taipei, Taiwan.
Biomimetic Sensor Suite for Flight Control of a Micromechanical Flight Insect:Design and Experimental Results,
W.C. Wu and L. Schenato and R.J. Wood and R.S. Fearing,
ICRA 2003, pp. 1146-1151, Taipei, Taiwan.
Model Identification and Attitude Control for a Micromechanical Flying Insect Including Thorax and Sensor Models,
X. Deng and L. Schenato and S.S. Sastry,
ICRA 2003, pp. 1152-1157, Taipei, Taiwan.
Lift Force Improvements for the Micromechanical Flying Insect
S. Avadhanula, R. J. Wood, E. Steltz, J. Yan and R. S. Fearing
IEEE Int. Conf. on Intelligent Robots and Systems, Oct 28-30, 2003, Las Vegas NV.
Wing Force Map Characterization and Simulation for the Micromechanical Flying Insect
J. Yan and R.S. Fearing
IEEE Int. Conf. on Intelligent Robots and Systems, Oct 28-30, 2003, Las Vegas NV.
Controllability issues in flapping flight for biomimetic Micro Aerial Vehicles (MAVs)
Luca Schenato, Domenico Campolo, Shankar Sastry
IEEE International Conference on Decision and Control, Maui, Hawaii, December 2003
2002
Halteres for the Micromechanical Flying Insect,
W.C. Wu, R.J. Wood, R.S. Fearing,
IEEE Int. Conf. on Robotics and Automation, Washington, DC May 11-15, 2002.
Dynamically tuned design of the MFI thorax,
S. Avadhanula, R. J. Wood, D. Campolo, R. S. Fearing,
IEEE Int. Conf. on Robotics and Automation, Washington, DC May 11-15, 2002.
The Micromechanical Flying Insect.
J. Yan, S.Avadhanula, J. Birch, M.H. Dickinson, M. Menon, E. Park, T.D. Sands, S.Sane, M. Sitti, T. Su, R.J. Wood, and R.S. Fearing,
Video Proc of IEEE Intl Conf on Robotics and Automation, Washington, D.C., May 11-15, 2002 (winner of Best Video Award).
Wing transmission for a micromechanical flying insect,
J. Yan, S.A. Avadhanula, J. Birch, M.H. Dickinson, M. Sitti, T. Su, and R.S. Fearing,
Journal of Micromechatronics, vol. 1, no. 3, pp. 221-238, 2002.
Hovering Flight for a Micromechanical Flying Insect: Modeling and Robust Control Synthesis
L. Schenato, X. Deng, and S. Sastry,
15th IFAC World Congress on Automatic Control Barcelona, Spain July 2002.
Model Identification and Attitude Control Scheme for a Micromechanical Flying Insect
X. Deng and L. Schenato and S.S. Sastry,
7th Int'l Conf on Control, Automation, Robotic and Vision, pp. 1007-1012, Dec. 2002, Singapore
Attitude Control for a Micromechanical Flying Insect via Sensor Output Feedback
L. Schenato and W.C. Wu and S. Sastry,
7th Int'l Conf on Control, Automation, Robotic and Vision, pp. 1031-1036, Dec. 2002, Singapore
2001
Development of PZT and PZN-PT Based Unimorph Actuators for Micromechanical Flapping Mechanisms,
M. Sitti, D. Campolo, J. Yan, R.S. Fearing, T. Su, D. Taylor, and T. Sands,
IEEE Int. Conf. Robotics and Automation, pp. 3839-3846, Seoul Korea, May 21-26, 2001.
Towards Flapping Wing Control for a Micromechanical Flying Insect,
J. Yan, R. Wood, S. Avandhanula, M. Sitti, R. S. Fearing,
IEEE Int. Conf. Robotics and Automation, pp. 3901-3908, Seoul Korea, May 21-26, 2001.
PZT Actuated Four-Bar Mechanism with Two Flexible Links for Micromechanical Flying Insect Thorax,
M. Sitti,
IEEE Int. Conf. Robotics and Automation, Seoul Korea, May 21-26, 2001.
Flight Control System for a Micromechanical Flying Insect: Architecture and Implementation,
L. Schenato, X. Deng, and S. Sastry,
IEEE Int. Conf. Robotics and Automation, pp. 1641-1646, Seoul Korea, May 21-26, 2001.
Virtual Insect Flight Simulator (VIFS): A SoftwareTestbed for Insect Flight,
L. Schenato, X. Deng, W.C. Wu, and S. Sastry,
IEEE Int. Conf. Robotics and Automation, pp. 3885-3892, Seoul Korea, May 21-26, 2001.
Thorax design and wing control for a micromechanical flying insect.
J. Yan, S. Avadhanula, M. Sitti, R.J. Wood and R.S. Fearing.
Proc of 39th Annual Allerton Conf on Communication, Control and Computing, Monticello, IL, Oct 3-5, 2001.
Flight Force Measurements for a Micromechanical Flying Insect,
R.J. Wood and R.S. Fearing,
IEEE IROS 2001, Maui, HI, Oct. 29-Nov. 3, 2001.
Hovering Flight Control of a Micromechanical Flying Insect
Xinyan Deng, Luca Schenato, Shankar Sastry
IEEE Int. Conf. on Decision and Control, Orlando, Florida, December 2001.
2000
Wing Transmission for a Micromechanical Flying Insect (ps) , or (pdf)
R.S. Fearing, K.H. Chiang, M. Dickinson, D.L. Pick, M. Sitti, and J. Yan,
IEEE Int. Conf. on Robotics and Automation, April, 2000.
Prototyping Millirobots using Dextrous Microassembly and Folding
E. Shimada, J.A. Thompson, J. Yan, R.J. Wood and R.S. Fearing,
Symposium on Microrobotics, ASME Int. Mechanical Engineering Cong. and Exp., Nov. 5-10, 2000, Orlando, FL.
1999
``Wing Rotation and the Aerodynamic Basis of Insect Flight'',
Michael H. Dickinson, Fritz-Olaf Lehmann, and Sanjay P. Sane,
Science, vol. 284, no. 5422, 18 June 1999.
Solving the Mystery of Insect Flight (old link) Solving the Mystery of Insect Flight
Michael H. Dickinson
Scientific American, June 2001

Project Documentation

Slides from Kickoff Meeting (15 Sept. 1998)

Notes on Thorax Thickness (postscript) (pdf)

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