Micromechanical Flying Insect Project Publications
2007
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Microrobot design using fiber reinforced composites,
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R.J. Wood, S. Avadhanula, R. Sahai, E. Steltz, R.S. Fearing,
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accepted to ASME Journal of Mechanical Design, June 2007.
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High Lift Force with 275 Hz Wing Beat in MFI,
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E. Steltz, S. Avadhanula and R.S. Fearing,
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IEEE Int. Conf. on Intelligent Robots and Systems, San Diego, Oct. 2007.
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Dynamometer Power Output Measurements of Piezoelectric Actuators,
- E. Steltz and R.S. Fearing,
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IEEE Int. Conf. on Intelligent Robots and Systems, San Diego, Oct. 2007.
2006
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Power Electronics Design Choice for
Piezoelectric Microrobots,
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E. Steltz, M. Seeman, S. Avadhanula, and R.S. Fearing,
- Int. Conf. on Intelligent Robots and Systems,
Beijing, China Oct.9-13, 2006.
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Flapping Flight for Biomimetic Robotic Insects:
Part I- System Modeling
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X. Deng, L. Schenato, W-C. Wu, and S. Sastry,
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IEEE Trans. on Robotics, vol. 22, no. 4, August 2006.
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Flapping Flight for Biomimetic Robotic Insects:
Part II- Flight Control Design
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X. Deng, L. Schenato, W-C. Wu, and S. Sastry,
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IEEE Trans. on Robotics, vol. 22, no. 4, August 2006.
2005
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Design, Fabrication and Initial Results of a 2g Autonomous Glider
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R.J. Wood, S. Avadhanula, E. Steltz, M. Seeman, J. Entwistle, A. Bachrach,
G. Barrows, S. Sanders, and R.S. Fearing,
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31st Annual Conference, IEEE Industrial Electronics Society 2005 Meeting,
Raleigh North Carolina, Nov. 6-10, 2005.
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Nonlinear Performance Limits for High Energy Density Piezoelectric
Bending Actuators
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R.J. Wood, E. Steltz, and R.S. Fearing,
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IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.
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Flexure Design Rules for Carbon Fiber Microrobotic Mechanisms,
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S. Avadhanula and R.S. Fearing,
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IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.
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Characterization of the Micromechanical Flying Insect by Optical
Position Sensing,
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E. Steltz, S. Avadhanula, R.J. Wood, and R.S. Fearing,
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IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.
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Optimal Energy Density Piezoelectric Bending Actuators
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R.J. Wood, E. Steltz, and R.S. Fearing
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Sensors and Actuators, Vol 119/2 pp 476-488, 2005.
2004
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Attitude Control for a Micromechanical Flying Insect via
Sensor Output Feedback,
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L.Schenato and W.C. Wu and S.S. Sastry,
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IEEE Journal of Robotics and Automation,
vol. 20, no. 1, pp. 93-106, Feb. 2004.
2003
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Efficient Charge Recovery Method for Driving Piezoelectric
Actuators in Low Power Applications,
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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.
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Microrobotics using Composite Materials: the Micromechanical
Flying Insect Thorax,
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R.J. Wood, S. Avadhanula, and R.S. Fearing,
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IEEE Int. Conf. on
Robotics and Automation 2003, pp. 1842-1849, Taipei, Taiwan.
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Development of Piezoelectric Bending Actuators with Embedded
Piezoelectric Sensors for Micromechanical Flapping Mechanisms,
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D. Campolo, R. Sahai, R. S. Fearing,
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ICRA 2003, pp. 3339-3346, Taipei, Taiwan.
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Biomimetic Sensor Suite for Flight Control of a
Micromechanical Flight Insect:Design and Experimental Results,
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W.C. Wu and L. Schenato and R.J. Wood and R.S. Fearing,
- ICRA 2003, pp. 1146-1151, Taipei, Taiwan.
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Model Identification and Attitude Control for a Micromechanical Flying Insect
Including Thorax and Sensor Models,
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X. Deng and L. Schenato and S.S. Sastry,
- ICRA 2003, pp. 1152-1157, Taipei, Taiwan.
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Lift Force Improvements for the Micromechanical Flying Insect
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S. Avadhanula, R. J. Wood, E. Steltz, J. Yan and R. S. Fearing
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IEEE Int. Conf. on Intelligent Robots and Systems,
Oct 28-30, 2003, Las Vegas NV.
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Wing Force Map Characterization and Simulation for the
Micromechanical Flying Insect
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J. Yan and R.S. Fearing
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IEEE Int. Conf. on Intelligent Robots and Systems,
Oct 28-30, 2003, Las Vegas NV.
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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
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Halteres for the Micromechanical Flying Insect,
- W.C. Wu, R.J. Wood, R.S. Fearing,
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IEEE Int. Conf. on Robotics and Automation,
Washington, DC May 11-15, 2002.
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Dynamically tuned design of the MFI thorax,
- S. Avadhanula, R. J. Wood, D. Campolo, R. S. Fearing,
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IEEE Int. Conf. on Robotics and Automation,
Washington, DC May 11-15, 2002.
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The Micromechanical Flying Insect.
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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,
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Video Proc of IEEE Intl Conf on Robotics
and Automation, Washington, D.C., May 11-15, 2002 (winner of Best Video
Award).
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Wing transmission for a micromechanical flying insect,
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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.
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Hovering Flight for a Micromechanical Flying Insect:
Modeling and Robust Control Synthesis
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L. Schenato, X. Deng, and S. Sastry,
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15th IFAC World Congress on Automatic Control
Barcelona, Spain July 2002.
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Model Identification and Attitude Control Scheme for a
Micromechanical Flying Insect
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X. Deng and L. Schenato and S.S. Sastry,
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7th Int'l Conf on Control, Automation, Robotic and
Vision, pp. 1007-1012, Dec. 2002, Singapore
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Attitude Control for a Micromechanical Flying Insect via
Sensor Output Feedback
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L. Schenato and W.C. Wu and S. Sastry,
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7th Int'l Conf on Control, Automation, Robotic and
Vision, pp. 1031-1036, Dec. 2002, Singapore
2001
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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.
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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.
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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.
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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.
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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.
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Thorax design
and wing control for a micromechanical flying insect.
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J. Yan, S. Avadhanula, M. Sitti, R.J. Wood and R.S. Fearing.
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Proc of 39th Annual
Allerton Conf on Communication, Control and Computing, Monticello, IL, Oct
3-5, 2001.
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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.
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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
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Wing Transmission for a Micromechanical Flying Insect,
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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.
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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
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``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.
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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)
MFI Home Page