Feedback Altitude Control of a Flying Insect–Computer Hybrid Robot

摘要

Unlike biomimetic methods, the insect–computer hybrid is an alternative approach to developing insect-scale robots. Insect–computer hybrid is a technique that transforms a living insect into a controllable robot by embedding it with artificial devices. In this article, a beetle ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Mecynorrhina torquata</i> ) was transformed into a hybrid flying system by mounting an electronic backpack and implanting electrodes on it. Wing trajectories during fictive flight climbing and flight diving were captured to investigate the natural flight-height control of beetles. Compare with the electrically induced wing trajectories via basalar, subalar, and third axillary (3Ax) muscle stimulations, we hypothesized that the basalar muscles are involved in ascending flight, whereas the 3Ax muscles function to reduce the flight-height. By reproducing the electrical stimulations on bilateral muscle pairs during free flights, we found that stimulations of the basalar muscle pair increased vertical accelerations. In contrast, the 3Ax muscle pair's stimulation decreased vertical accelerations gradually as a function of the electrical stimulation frequency. Accordingly, a proportional-derivative feedback controller was proposed to maintain the beetles' flight-height using frequency-dependent electrical pulses on the basalar and 3Ax muscles. In this article, the altitude control of a free-flying beetle was demonstrated for the first time.