Fall 2023 GRASP SFI - Autonomy for insect-scale robots

发布人

GRASP Lab
ABSTRACT
Countless science fiction works have set our expectations for small, mobile, autonomous robots for use in a broad range of applications. The ability to move through highly dynamic and complex environments can expand capabilities in search and rescue operations and safety inspection tasks. These robots can also form a diverse collective to provide more flexibility than a multifunctional robot. Advances in multi-scale manufacturing and the proliferation of small electronic devices have paved the way to realizing this vision with centimeter-scale robots. However, there remain significant challenges in making these highly-articulated mechanical devices fully autonomous due to the severe mass and power constraints. My research takes a holistic approach to navigating the inherent tradeoffs in each component in terms of their size, mass, power, and computation requirements. In this talk I will present strategies for creating an autonomous vehicle, the RoboBee – an insect scale flapping-wing robot with unprecedented mass, power, and computation constraints. I will present my work on the analysis of control and power requirements for this vehicle, as well as results on the integration of onboard sensors. I also will discuss recent results that culminate nearly two decades of effort to create a power autonomous insect-scale vehicle. Lastly, I will outline how this design strategy can be readily applied to other micro and bioinspired autonomous robots.

PRESENTER
Farrell Helbling is an assistant professor in Electrical and Computer Engineering at Cornell University, where she focuses on the systems-level design of insect-scale vehicles. Her graduate and post-doctoral work at the Harvard Microrobotics Lab focused on the Harvard RoboBee, an insect-scale flapping-wing robot, and HAMR, a bio-inspired crawling robot.

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