飛翔するロボット昆虫の制御：統一的アプローチの展望
Control of Flying Robotic Insects: A Perspective and Unifying Approach
クアッドロータ向けのクォータニオン姿勢制御を、2枚翅と4枚翅のロボット昆虫に適用し、位置・姿勢制御飛行の実験で有効性を示した。
著者: A. A. Calderón, Y. Chen, X. Yang, L. Chang, X. -T. Nguyen, E. K. Singer, N. O. Pérez-Arancibia
分類: cs.RO
原文アブストラクト
We discuss the problem of designing and implementing controllers for insect-scale flapping-wing micro air vehicles (FWMAVs), from a unifying perspective and employing two different experimental platforms; namely, a Harvard RoboBee-like two-winged robot and the four-winged USC Bee+. Through experiments, we demonstrate that a method that employs quaternion coordinates for attitude control, developed to control quadrotors, can be applied to drive both robotic insects considered in this work. The proposed notion that a generic strategy can be used to control several types of artificial insects with some common characteristics was preliminarily tested and validated using a set of experiments, which include position- and attitude-controlled flights. We believe that the presented results are interesting and valuable from both the research and educational perspectives.