Three-DOF controlled flight in palm-scale micro robotic blimp driven by flapping wings
Jie Chen, Xiang Lu, Yulie Wu, Yang Chen, Dingbang Xiao, Xuezhong Wu
Abstract
Micro blimps exhibit significant potential for applications in environmental monitoring and disaster rescue. Nonetheless, traditional propulsion methods for micro blimps encounter challenges such as complex mechanical structures, intricate attitude control, and large volumes. This paper present a novel compact and lightweight bio-inspired flapping-wing-driven micro robotic blimp actuated by piezoelectric (PZT), featuring a simplified structure and achieving three-degree-of-freedom (DOF) motion control with only two flapping-wing thruster units. We present a high-voltage drive-sense-control circuit and adaptive control strategy, enabling wireless remote control, onboard attitude sensing, and closed-loop yaw control. The proposed micro robotic blimp, powered by an onboard battery, measures 15 cm in major axis and weighs 1.53 g, achieves a maneuvering speed of 17 cm/s, and angular velocity reaches 12°/s with a yaw angle control accuracy of 0.5°. As the smallest and lightest known self-powered micro blimp capable of stable yaw control, the platform demonstrates excellent endurance and environmental stealth characteristics and advances the design of micro aerial vehicles by offering a novel and efficient approach.
BibTeX
@inproceedings{iros2025_threedofcontroll,
title = {Three-DOF controlled flight in palm-scale micro robotic blimp driven by flapping wings},
author = {Jie Chen and Xiang Lu and Yulie Wu and Yang Chen and Dingbang Xiao and Xuezhong Wu},
booktitle = {IROS 2025},
year = {2025}
}