Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility
IEEE Flying insects are remarkably agile and robust. As they fly through cluttered natural environments, they can demonstrate aggressive acrobatic maneuvers such as backflip, rapid escape, and in-flight collision recovery. Current state-of-the-art subgram microaerial-vehicles (MAVs) are predominatel...
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| Materiálatiipa: | Artihkal |
| Giella: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2022
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| Liŋkkat: | https://hdl.handle.net/1721.1/142906 |
| _version_ | 1826198793818734592 |
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| author | Chen, YuFeng Xu, Siyi Ren, Zhijian Chirarattananon, Pakpong |
| author2 | Massachusetts Institute of Technology. Research Laboratory of Electronics |
| author_facet | Massachusetts Institute of Technology. Research Laboratory of Electronics Chen, YuFeng Xu, Siyi Ren, Zhijian Chirarattananon, Pakpong |
| author_sort | Chen, YuFeng |
| collection | MIT |
| description | IEEE Flying insects are remarkably agile and robust. As they fly through cluttered natural environments, they can demonstrate aggressive acrobatic maneuvers such as backflip, rapid escape, and in-flight collision recovery. Current state-of-the-art subgram microaerial-vehicles (MAVs) are predominately powered by rigid actuators such as piezoelectric ceramics, but they have low fracture strength (120 MPa) and failure strain (0.3%). Although these existing systems can achieve a high lift-to-weight ratio, they have not demonstrated insect-like maneuvers such as somersault or rapid collision recovery. In this article, we present a 665 mg aerial robot that is powered by novel dielectric elastomer actuators (DEA). The new DEA achieves high power density (1.2 kW/kg) and relatively high transduction efficiency (37%). We further incorporate this soft actuator into an aerial robot to demonstrate novel flight capabilities. This insect-scale aerial robot has a large lift-to-weight ratio (>2.2:1) and it achieves an ascending speed of 70 cm/s. In addition to demonstrating controlled hovering flight, it can recover from an in-flight collision and perform a somersault within 0.16 s. This work demonstrates that soft aerial robots can achieve insect-like flight capabilities absent in rigid-powered MAVs, thus showing the potential of a new class of hybrid soft-rigid robots. |
| first_indexed | 2024-09-23T11:10:04Z |
| format | Article |
| id | mit-1721.1/142906 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T11:10:04Z |
| publishDate | 2022 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1429062023-04-07T20:01:26Z Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility Chen, YuFeng Xu, Siyi Ren, Zhijian Chirarattananon, Pakpong Massachusetts Institute of Technology. Research Laboratory of Electronics Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science IEEE Flying insects are remarkably agile and robust. As they fly through cluttered natural environments, they can demonstrate aggressive acrobatic maneuvers such as backflip, rapid escape, and in-flight collision recovery. Current state-of-the-art subgram microaerial-vehicles (MAVs) are predominately powered by rigid actuators such as piezoelectric ceramics, but they have low fracture strength (120 MPa) and failure strain (0.3%). Although these existing systems can achieve a high lift-to-weight ratio, they have not demonstrated insect-like maneuvers such as somersault or rapid collision recovery. In this article, we present a 665 mg aerial robot that is powered by novel dielectric elastomer actuators (DEA). The new DEA achieves high power density (1.2 kW/kg) and relatively high transduction efficiency (37%). We further incorporate this soft actuator into an aerial robot to demonstrate novel flight capabilities. This insect-scale aerial robot has a large lift-to-weight ratio (>2.2:1) and it achieves an ascending speed of 70 cm/s. In addition to demonstrating controlled hovering flight, it can recover from an in-flight collision and perform a somersault within 0.16 s. This work demonstrates that soft aerial robots can achieve insect-like flight capabilities absent in rigid-powered MAVs, thus showing the potential of a new class of hybrid soft-rigid robots. 2022-06-07T18:57:30Z 2022-06-07T18:57:30Z 2021 2022-06-07T18:50:39Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/142906 Chen, YuFeng, Xu, Siyi, Ren, Zhijian and Chirarattananon, Pakpong. 2021. "Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility." IEEE Transactions on Robotics, 37 (5). en 10.1109/TRO.2021.3053647 IEEE Transactions on Robotics Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International https://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Chen, YuFeng Xu, Siyi Ren, Zhijian Chirarattananon, Pakpong Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility |
| title | Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility |
| title_full | Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility |
| title_fullStr | Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility |
| title_full_unstemmed | Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility |
| title_short | Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility |
| title_sort | collision resilient insect scale soft actuated aerial robots with high agility |
| url | https://hdl.handle.net/1721.1/142906 |
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