A 1.5g SMA-actuated microglider looking for the light

被引：17

作者：

Kovac, Mirko ^{[1
]}

Guignard, Andre ^{[1
]}

Nicoud, Jean-Daniel ^{[2
]}

Zufferey, Jean-Christophe ^{[1
]}

Floreano, Dario ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, LIS, CH-1015 Lausanne, Switzerland

[2] DIDEL SA, Lausanne, Switzerland

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363814

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Unpowered flight can be used in microrobotics to overcome ground obstacles and to increase the traveling distance per energy unit. In order to explore the potential of goal-directed gliding in the domain of miniature robotics, we developed a 22cm. microglider weighing a mere 1.5g and flying at around 1.5m/s. It is equipped with sensors and electronics to achieve phototaxis, which can be seen as a minimal level of control autonomy. A novel 0.2g Shape Memory Alloy (SMA) actuator for steering control has been specifically designed and integrated to keep the overall weight as low as possible. In order to characterize autonomous operation of this robot, we developed an experimental setup consisting of a launching device and a light source positioned Im below and 4m away with varying angles with respect to the launching direction. Statistical analysis of 36 autonomous flights demonstrate its flight and phototaxis efficiency.

引用

页码：367 / 372

页数：6

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