Néstor Osvaldo Pérez-Arancibia

Learn More
— The Harvard RoboBee is the first insect-scale flapping-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)
— 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)
— 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)
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)
— 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(More)