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Heading Control of a Long-Endurance Insect-Scale Aerial Robot Powered by Soft Artificial Muscles
2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (5)
Aerial insects demonstrate fast and precise heading control when they perform body saccades and rapid escape maneuvers. While insect-scale micro-aerial-vehicles (IMAVs) have demonstrated early results on heading control, their flight endurance and heading angle tracking accuracy remain far inferior to that of natural fliers. In this work, we present a long endurance sub-gram aerial robot that can ...Show More
A lightweight high-voltage boost circuit for soft-actuated micro-aerial-robots
Zhijian Ren;Jiahui Yang;Suhan Kim;Yi-Hsuan Hsiao;Jeffrey Lang;Yufeng Chen
2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Flight is an energetically expensive task. While aerial insects can effortlessly fly through natural environments, achieving power autonomous flights in insect-scale robots remains a major challenge. In prior works, we developed soft-actuated insect-scale aerial robots that demonstrated unique capabilities such as in-flight collision recovery and somersaults. However, the soft dielectric elastomer...Show More
FireFly: An Insect-Scale Aerial Robot Powered by Electroluminescent Soft Artificial Muscles
Light production in natural fireflies represents an effective and unique method for communication and mating. Inspired by bioluminescence, we develop a 650 mg aerial robot powered by four electroluminescent (EL) dielectric elastomer actuators (DEAs) that have distinct colors and patterns. To enable simultaneous actuation and light emission, we embed EL particles in a DEA that has highly transparen...Show More
WhiskSight: A Reconfigurable, Vision-Based, Optical Whisker Sensing Array for Simultaneous Contact, Airflow, and Inertia Stimulus Detection
Teresa A Kent;Suhan Kim;Gabriel Kornilowicz;Wenzhen Yuan;Mitra J. Z. Hartmann;Sarah Bergbreiter
The development of whisker-based sensing systems faces at least two important technical challenges: scaling up the number of whiskers to large arrays while retaining a simple interface; and detecting the wide variety of stimuli that biological whiskers can sense, including both direct touch (contact) and airflow. Here we present the design for a whisker array that leverages a camera to measure whi...Show More
Touch the Wind: Simultaneous Airflow, Drag and Interaction Sensing on a Multirotor
Andrea Tagliabue;Aleix Paris;Suhan Kim;Regan Kubicek;Sarah Bergbreiter;Jonathan P. How
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2020 | Conference Paper |
Cited by: Papers (25)
Disturbance estimation for Micro Aerial Vehicles (MAVs) is crucial for robustness and safety. In this paper, we use novel, bio-inspired airflow sensors to measure the airflow acting on a MAV, and we fuse this information in an Unscented Kalman filter (UKF) to simultaneously estimate the three-dimensional wind vector, the drag force, and other interaction forces (e.g. due to collisions, interaction...Show More
A Whisker-inspired Fin Sensor for Multi-directional Airflow Sensing
Suhan Kim;Regan Kubicek;Aleix Paris;Andrea Tagliabue;Jonathan P. How;Sarah Bergbreiter
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2020 | Conference Paper |
Cited by: Papers (17)
This work presents the design, fabrication, and characterization of an airflow sensor inspired by the whiskers of animals. The body of the whisker was replaced with a fin structure in order to increase the air resistance. The fin was suspended by a micro-fabricated spring system at the bottom. A permanent magnet was attached beneath the spring, and the motion of fin was captured by a readily acces...Show More
Electromechanical Characterization of 3D Printable Conductive Elastomer for Soft Robotics
Suhan Kim;Sukjun Kim;Houriyeh Majditehran;Dinesh K. Patel;Carmel Majidi;Sarah Bergbreiter
2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)
Year: 2020 | Conference Paper |
Cited by: Papers (11)
Soft, stretchable sensors, such as artificial skins or tactile sensors, are attractive for numerous soft robotic applications due to the low material compliance. Conductive polymers are a necessary component of many soft sensors, and this work presents the electromechanical characterization of 3D-printable conductive polymer composites. Dog-bone shaped samples were 3D printed using a digital light...Show More
A Magnetically Transduced Whisker for Angular Displacement and Moment Sensing
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2019 | Conference Paper |
Cited by: Papers (14)
This work presents the design, modeling, and fabrication of a whisker-like sensor capable of measuring the whisker's angular displacement as well as the applied moments at the base of the whisker. The sensor takes advantage of readily accessible and low-cost 3D magnetic sensors to transduce whisker deflections, and a planar serpentine spring structure at the whisker base is used to provide a mecha...Show More
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