Néstor Osvaldo Pérez-Arancibia

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The Harvard RoboBee is the first insect-scale cflapping-wing robot weighing less than 100 mg that is able to lift its own weight. However, when flown without guide wires, this vehicle quickly tumbles after takeoff because of instability in its dynamics. Here, we show that by adding aerodynamic dampers, we can can alter the vehicle's dynamics to stabilize(More)
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(More)
In this paper, we present experimental results on altitude control of a flying microrobot. The problem is approached in two stages. In the first stage, system identification of two relevant subsystems composing the microrobot is performed, using a static flapping experimental setup. In the second stage, the information gathered through the static flapping(More)
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(More)
As the characteristic size of a flying robot decreases, the challenges for successful flight revert to basic questions of fabrication, actuation, fluid mechanics, stabilization, and power-whereas such questions have in general been answered for larger aircraft. When developing a flying robot on the scale of a common house-fly, all hardware must be developed(More)
6 considered in this work is that altitude control can be translated 7 into a problem of lift force control. Through analyses and experi-8 ments, we describe the proposed control strategy, which is funda-linear time-invariant (LTI) equivalent system, which is a method 16 for finding an internal model principle (IMP) based representa-17 tion of the(More)
— 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(More)
We present experimental results on the controlled vertical flight of a flapping-wing flying microrobot, in which for the first time an on-board sensing system is used for measuring the microrobot's altitude for feedback control. Both the control strategy and the sensing system are biologically inspired. The control strategy relies on amplitude modulation(More)
We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle-tendon-ligament structure. A key(More)