9 papers
An Autonomous Subgram SMA-Based Swimmer
Conor K. Trygstad, Francisco M. F. R. Gonçalves, Néstor O. Pérez-Arancibia
We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driven by shape-memory alloy (SMA) wires. We integrated onboard power an…
A Class of Axis-Angle Attitude Control Laws for Rotational Systems
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternio…
Embodied Intelligence for Advanced Bioinspired Microrobotics: Examples and Insights
Nestor O. Perez-Arancibia
The term embodied intelligence (EI) conveys the notion that body morphology, material properties, interaction with the environment, and control strategies can be purposefully integ…
Force Characterization of Insect-Scale Aquatic Propulsion Based on Fluid-Structure Interaction
Conor K. Trygstad, Nestor O. Perez-Arancibia
We present force characterizations of two newly developed insect-scale propulsors--one single-tailed and one double-tailed--for microrobotic swimmers that leverage fluid-structure…
A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as…
Feedback Control of a Single-Tail Bioinspired 59-mg Swimmer
Conor K. Trygstad, Cody R. Longwell, Francisco M. F. R. Gonçalves +2
We present an evolved steerable version of the single-tail Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven…