We discuss the problem of designing and implementing controllers for insect-scale flapping-wing micro air vehicles (FWMAVs), from a unifying perspective and employing two different experimental platforms; namely, a Harvard RoboBee-like two-winged robot and the four-winged USC Bee+. Through experiments, we demonstrate that a method that employs quaternion coordinates for attitude control, developed to control quadrotors, can be applied to drive both robotic insects considered in this work. The proposed notion that a generic strategy can be used to control several types of artificial insects with some common characteristics was preliminarily tested and validated using a set of experiments, which include position- and attitude-controlled flights. We believe that the presented results are interesting and valuable from both the research and educational perspectives.
@article{arxiv.1910.11911,
title = {Control of Flying Robotic Insects: A Perspective and Unifying Approach},
author = {A. A. Calderón and Y. Chen and X. Yang and L. Chang and X. -T. Nguyen and E. K. Singer and N. O. Pérez-Arancibia},
journal= {arXiv preprint arXiv:1910.11911},
year = {2019}
}