Flapping-wing insect-scale robots (ppwithpp. The thrust modulation reported here is necessary to realize controlled flight using on-board power systems, instead of externally provided signals via a wire tether.

Insect-sized ($\sim$100 mg) aerial robots have advantages over larger robots because of their small size, low weight, and low materials cost. Previous iterations have demonstrated controlled flight but were difficult to fabricate because they consisted of many separate parts assembled together and were also unable to perform locomotion modes besides flight. This article presents a new design of a 74-mg flapping-wing robot that dramatically reduces the number of parts and simplifies fabrication. The robot also has a lower center of mass, which allows the robot to additionally land without the need for long legs, even in case of unstable flight. We also show that the new design allows for wing-driven ground and air–water interfacial locomotion, improving the versatility of the robot. During surface ambulation, forward thrust is generated by increasing the speed of the upstroke relative to the downstroke of the flapping wings. Adjusting relative wing stroke amplitudes also allows for steering. The ability to land and subsequently move along the ground first presented here allows the robot to negotiate extremely confined spaces and underneath obstacles. We present results demonstrating these capabilities, as well as hovering flight and controlled landing.

To date, insect scale aerial robots have required wire tethers for providing power due to the challenges of integrating the required high-voltage power electronics within their severely constrained weight budgets. In this paper we present a significant milestone in the achievement of flight autonomy: the first wireless liftoff of a 190 mg aerial vehicle. Our robot is remotely powered using a 976 nm laser and integrates a complete power electronics package weighing a total of 104 mg, using commercially available components and fabricated using a fast-turnaround laser based circuit fabrication technique. The onboard electronics include a lightweight boost converter capable of producing high voltage bias and drive signals of over 200 V at up to 170 Hz and regulated by a microcontroller performing feedback control. We present our system design and analysis, detailed description of our fabrication method, and results from flight experiments.

Efforts to engineer insect-sized (~100 mg) robots are motivated by their potential advantages relative to larger robots, such as greater deployment numbers at the same cost. Previous iterations have demonstrated controlled flight, but were limited in terms of locomotion capabilities outside of flight. They also consisted of many parts, making them difficult to fabricate. Here we present a re-design that lowers the center of mass, allowing the robot to additionally land without the need for long legs. Furthermore, we show that the new design allows for wing-driven ground locomotion. This is achieved by varying the speed of downstroke relative to the upstroke of the flapping wings, which also allows for steering. By landing and subsequently moving along the ground, the robot can negotiate extremely confined spaces and underneath obstacles, as well as navigate to precise locations for sensing operations. The new design also drastically reduces the number of parts, simplifying fabrication. We describe the new design in detail and present results demonstrating these capabilities, as well as feedback-stabilized flights.