dont model things. just build robots Dr. Sawyer B. Fuller - - PowerPoint PPT Presentation
dont model things. just build robots Dr. Sawyer B. Fuller Assistant Professor Department of Mechanical Engineering wind sensor precision aspect ratio camera resolution controller architecture flight time wing area battery mass
Assistant Professor Department of Mechanical Engineering
wing area aspect ratio flapping frequency battery mass camera resolution camera frame rate boost converter type wind sensor precision processor architecture flight time controller architecture
iterating on previous successful designs
fast iteration like nature does
video courtesy of Andrew Mountcastle
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characteristic
strength per mass
remarks
viscous friction
l-1
unfavorable glide ratio: favors hover
coulomb friction
l-1
inefficient pin joints: favors flexures
mechanics
unfavorable to gliding flight, propellers
characteristic
varies with
remarks
l-1
denied indoors battery power
l3
suggests non-emissive sensing
sensing
characteristic
varies with
remarks
rotation speed
l-1
requires fast feedback loop computation power
l3
constrained processing
control
eliminates many sensors
l
scaling laws:
faster dynamics slower computation
×
2 3 4
persistent pin alignment release assembly by folding
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Ma K, Chirarattananon P, Fuller SB, and Wood RJ, Science 2013
torque ~ l4, moment of inertia ~ l5 → angular acceleration ~ l-1
Fuller et al, ICRA 2015
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Graule M, Chirarattananon P, Fuller SB, et al. Science 2016
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visual flight control, computation autonomy, and power autonomy