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Control of Flying Robotic Insects: A Perspective and Unifying Approach

机译：飞行机器人昆虫的控制：一种视角和统一的方法

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摘要

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.
机译：我们从统一的角度并采用两个不同的实验平台，讨论了设计和实现昆虫规模的拍打翼微型飞机（FWMAV）的控制器的问题。即，类似哈佛RoboBee的两翼机器人和四翼USC Bee + 。通过实验，我们证明了采用四元数坐标进行姿态控制的方法，该方法可以控制四旋翼飞行器，可以应用于驱动本工作中考虑的两种机器人昆虫。提出的关于通用策略可用于控制几种具有某些共同特征的人工昆虫的概念已通过一组包括位置和姿态控制飞行的实验进行了初步测试和验证。我们认为，从研究和教育的角度来看，提出的结果都是有趣且有价值的。

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