don’t 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 processor camera architecture frame rate flapping boost converter type frequency
#1 aircraft design technique iterating on previous successful designs
design for evolvability fast iteration like nature does
video courtesy of Andrew Mountcastle Dr. Sawyer B. Fuller 5
Dr. Sawyer B. Fuller 6
small is different l scaling laws: mechanics { characteristic remarks strength per mass l -1 viscous friction unfavorable glide ratio: favors hover l -1 coulomb friction inefficient pin joints: favors flexures unfavorable to gliding flight, propellers { sensing characteristic remarks varies with l -1 denied indoors Glob. Pos. System error l 3 battery power suggests non-emissive sensing eliminates many sensors { control characteristic remarks varies with l -1 rotation speed requires fast feedback loop l 3 computation power constrained processing faster dynamics slower computation × Dr. Sawyer B. Fuller 7
manufacturing at insect scale 1 2 persistent pin alignment 3 4 assembly release by folding
controlled flight (real time) Ma K, Chirarattananon P, Fuller SB , and Wood RJ, Science 2013 9 Dr. Sawyer B. Fuller
fast rotational motions torque ~ l 4 , moment of inertia ~ l 5 → angular acceleration ~ l -1 Fuller et al, ICRA 2015
Perching Graule M, Chirarattananon P, Fuller SB , et al. Science 2016 Dr. Sawyer B. Fuller 11
open challenges visual flight control, computation autonomy, and power autonomy Dr. Sawyer B. Fuller 12
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