Insect-scale micro-aerial vehicles, especially, lightweight, flapping-wing robots, are becoming increasingly important for safe motion sensing in spatially constrained environments such as living spaces. However, yaw control using flapping wings is fundamentally more difficult than using rotating wings. In this study, an insect-scale, tailless robot with four paired tilted flapping wings (weighing 1.52 g) to enable yaw control was fabricated. It benefits from the simplicity of a directly driven wing actuator with no transmission and a lift control signal; however, it still has an offset in the lift force. Therefore, an adaptive controller was designed to alleviate the offset. Numerical experiments confirm that the proposed controller outperforms the linear quadratic integral controller. Finally, in a tethered and controlled demonstration flight, the yaw drift was suppressed by the wing-tilting arrangement and the proposed controller. The simple structure drive system demonstrates the potential for future controlled flights of battery-powered, tailless, flapping-wing robots weighing less than 10 grams.

翻译：昆虫尺度的微型飞行器，特别是轻量化的扑翼机器人，在生活空间等空间受限环境中进行安全运动感知正变得越来越重要。然而，使用扑翼实现偏航控制从根本上比使用旋转翼更为困难。本研究制造了一种昆虫尺度的无尾机器人，其配备四对倾斜扑翼（重量为1.52克），以实现偏航控制。该机器人得益于直接驱动的翼作动器结构简单，无需传动装置和升力控制信号；然而，其升力仍存在偏移。因此，设计了一种自适应控制器以减轻该偏移。数值实验证实，所提出的控制器性能优于线性二次积分控制器。最后，在系留受控演示飞行中，通过翼倾斜布置和所提出的控制器抑制了偏航漂移。这种简单的结构驱动系统展示了未来实现重量低于10克的电池供电无尾扑翼机器人受控飞行的潜力。