Asymmetric flapping for a robotic fly using a hybrid power-control actuator

This paper continues the exploration of the design space for an insect-sized autonomous flapping-wing MAV with the goal of stable hovering. Previous work has focused on the use of a large primary power actuator to generate flapping motion and smaller ¿control¿ actuators to asymmetrically alter wing kinematics. Here a new iteration of this concept is presented, merging the two actuator types to create a ¿hybrid¿ power-control actuator. Kinematic and dynamic models for wing motion are presented, and the predictions of these models are compared to experimental results from a prototype design. Controllable asymmetry in wing kinematics can be mapped into controllable body torques via an aerodynamic model, and this information can be used for the generation of control laws for stable hover and eventually highly agile aerial vehicles.