Journal
SCIENCE
Volume 340, Issue 6132, Pages 603-607Publisher
AMER ASSOC ADVANCEMENT SCIENCE
DOI: 10.1126/science.1231806
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Funding
- National Science Foundation [CCF-0926148]
- Office of Naval Research [N00014-08-1-0919]
- Wyss Institute for Biologically Inspired Engineering
- Direct For Computer & Info Scie & Enginr
- Div Of Information & Intelligent Systems [0926148] Funding Source: National Science Foundation
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Flies are among the most agile flying creatures on Earth. To mimic this aerial prowess in a similarly sized robot requires tiny, high-efficiency mechanical components that pose miniaturization challenges governed by force-scaling laws, suggesting unconventional solutions for propulsion, actuation, and manufacturing. To this end, we developed high-power-density piezoelectric flight muscles and a manufacturing methodology capable of rapidly prototyping articulated, flexure-based sub-millimeter mechanisms. We built an 80-milligram, insect-scale, flapping-wing robot modeled loosely on the morphology of flies. Using a modular approach to flight control that relies on limited information about the robot's dynamics, we demonstrated tethered but unconstrained stable hovering and basic controlled flight maneuvers. The result validates a sufficient suite of innovations for achieving artificial, insect-like flight.
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