5 accepted papers
Accurately determining the time constant of a circuit enables IoT nodes to easily read out resistive or capacitive sensors. However, power and cost constraints lead to hardware limitations that complicate such measurements, including ADC noise, sampling clock jitter, poor voltage control over temper…
Nonholonomic control is a candidate to control nonlinear systems with path-dependant states. We investigate an underactuated flying micro-aerial-vehicle, the ionocraft, that requires nonholonomic control in the yaw-direction for complete attitude control. Deploying an analytical control law involves
Designing effective low-level robot controllers often entail platform-specific implementations that require manual heuristic parameter tuning, significant system knowledge, or long design times. With the rising number of robotic and mechatronic systems deployed across areas ranging from industrial a
The design of gaits for robot locomotion can be a daunting process, which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant or micro-scale robots. Data-driven gait optimization provid
This letter presents an insect-scale microrobot that flies silently and with no mechanical moving parts, using a mechanism with no analogue in the natural world: electrohydrodynamic thrust produced by ions generated via corona discharge. For the first time, attitude and acceleration data are continu