Chapter

Experimental Robotics

Volume 39 of the series Springer Tracts in Advanced Robotics pp 451-460

Real-Time Microforce Sensors and High Speed Vision System for Insect Flight Control Analysis

  • Chauncey F. GraetzelAffiliated withInstitute of Robotics and Intelligent Systems, ETH Zurich, 8092 ZurichInstitute of Neuroinformatics, ETH/UNI Zurich, 8057 Zurich
  • , Steven N. FryAffiliated withInstitute of Neuroinformatics, ETH/UNI Zurich, 8057 Zurich
  • , Felix BeyelerAffiliated withInstitute of Robotics and Intelligent Systems, ETH Zurich, 8092 Zurich
  • , Yu SunAffiliated withAdvanced Micro and Nanosystems Laboratory, University of Toronto
  • , Bradley J. NelsonAffiliated withInstitute of Robotics and Intelligent Systems, ETH Zurich, 8092 Zurich

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Summary

In this paper, we show how ”bio-inspired” robotics can benefit from a more generalized approach than case-by-case emulation. This generalization is obtained by investigating the design constraints found in biological organisms using a reverse-engineering approach. To achieve this, we have developed two novel technologies that are well suited to analyze the biomechanics and neural control in insect flight. First, we present a micro-electro-mechanical (MEMS) force sensor for measuring flight forces. Second, we describe a 6000Hz high speed vision system for characterizing wing kinematics in real time. Finally, we integrate these technologies within a tethered flight ”simulator” for open and closed-loop investigations of sensory-motor pathways. Initial results are presented and future research perspectives are discussed.