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We present an experimental method for the modeling and system identification of shape memory alloy-based (SMA) wire actuators, employing minimum-variance adaptive tuning and control to find the parameters of a proposed modified Preisach model. The material compositions of SMAs have inherent properties that induce phase transformations between austenitic and detwinned martensitic crystal structures,...
We present the design, fabrication and feedback control of an earthworm-inspired multi-material multi-actuator soft robot capable of locomoting inside pipes. The bodies of natural earthworms are composed of repeated deformable structural units, called metameres, that generate the peristaltic body motions required for limbless underground burrowing and above-ground crawling. In an earthworm, each individual...
We discuss the design and implementation of a combined repetitive and minimum-variance adaptive control strategy for generating a-priori-specified desired periodic flapping trajectories of a flying microrobot's wings. With this method and using a static force sensing experimental setup, relevant information about the forces produced by the wings' flapping can be gathered. In turn, this information...
This paper presents the first experimental results on pitch-angle control of a flapping-wing microrobot. First, we describe a control method by which torques can be modulated to change the pitch orientation of the microrobot. The suitability of the proposed method is demonstrated through hardware-in-the-loop experiments, employing a static experimental setup capable of measuring instantaneous torques...
Flapping-wing robots typically include numerous nonlinear elements, such as nonlinear geometric and aerodynamic components. For an insect-sized flapping-wing micro air vehicle (FWMAV), we show that a linearized model is sufficient to predict system behavior with reasonable accuracy over a large operating range, not just locally around the linearization state. The theoretical model is verified against...
This paper introduces a methodology for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering. The main idea considered in this work is that altitude control can be translated into a problem of lift force control. Through analyses and experiments, we describe the proposed control strategy, which is fundamentally adaptive with...
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