ICRA 2017poster15 citations
An actuated gaze stabilization platform for a flapping-wing microrobot
Sylvain Mange, E. Farrell Helbling, Nick Gravish, Robert J. Wood
Abstract
Onboard vision sensing is a current challenge in micro-scale robotics. Small flapping-wing robots such as the RoboBee present significant constraints on power, weight, and image quality for an onboard vision sensor. Here we report the integration of a 1 × 1 × 1.7 mm camera capable of video capture in flight. Inspired by gaze stabilization in insects, we designed and fabricated a one degree of freedom mechanism attached to the top of the RoboBee that achieves output angles of -41° to +60°. We perform open-loop roll maneuvers and demonstrate initial control of the gaze angle during flight. This represents the first use of a camera in free flight at this scale.
BibTeX
@inproceedings{icra2017_anactuatedgazest,
title = {An actuated gaze stabilization platform for a flapping-wing microrobot},
author = {Sylvain Mange and E. Farrell Helbling and Nick Gravish and Robert J. Wood},
booktitle = {ICRA 2017},
year = {2017}
}