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Towards insect-like distributed proprioception in actuators and appendages for flapping-wing insect-scale aerial robots — arXiv:2608.21699

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.21699
License (as archived): CC0-1.0
Archived: 2026-10-18T09:01:47.832Z
SHA-256 of the archived text: 4e98c3373a4bfb6364d65f6bc3afa8b8683a667c606d48d34f68318093abc138
Stable URL of this page: https://metraipolis.com/documento/dc_033f72bef16a

How to cite

Towards insect-like distributed proprioception in actuators and appendages for flapping-wing insect-scale aerial robots — arXiv:2608.21699 — arXiv (en), https://arxiv.org/abs/2608.21699 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_033f72bef16a (Metraipolis archive dc_033f72bef16a, sha256 4e98c3373a4bfb6364d65f6bc3afa8b8683a667c606d48d34f68318093abc138)

BibTeX

@misc{dc033f72bef16a,
  title = {Towards insect-like distributed proprioception in actuators and appendages for flapping-wing insect-scale aerial robots — arXiv:2608.21699},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.21699},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_033f72bef16a; sha256 4e98c3373a4bfb6364d65f6bc3afa8b8683a667c606d48d34f68318093abc138},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.21699. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Modern flapping-wing insect-scale air vehicles display agility similar to that of their insect counterparts; however, these impressive maneuvers are only possible with off-board sensors like optical tracking cameras. In this manuscript, we introduce two embedded proprioceptive sensors for insect-scale aerial robots: thin film piezoelectric polymers integrated directly into a driving actuator and a pitching hinge which track stroke and pitch angle, respectively. We fabricate the aforementioned size-agnostic mechanically intelligent structures (sensor-actuator, sensor-flexure) using laminate stack fabrication methods. Chirp experiments with our sensors integrated into an insect-size flapping-wing robot show accurate tracking of stroke (RMSE = 0.44 deg) and pitch (RMSE = 2.44 deg) angles in the relevant frequency range. As the first step towards demonstrating the utility of these sensors for enabling numerous onboard autonomy applications, including closed-loop wingbeat control and sensor fusion with existing insect-scale sensor suites for more accurate proprioception and localization, we show one application for each sensor. The proprioceptive hinge enables collision detection, reducing the chance of permanent damage if the robot's wing collides with an object. The proprioceptive actuator enables asynchronous flapping, which is hypothesized to increase adaptability and efficiency in insects and robots alike. A microrobot equipped with our proprioceptive actuator allows us to test these hypotheses with potential for improving flapping aerial robot performance. We foresee proprioceptive sensors having an important role in progressing both the fields of insect-scale aerial robots and robo-physics due to the bio-inspired nature and high integration level of our sensors.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-08-25 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2608.21699 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-18T08:57:47.839Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-08-25?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).