TY - JOUR
T1 - The wifly
T2 - Flapping-wing small unmanned aerial vehicle with center-of-gravity shift mechanism
AU - Nozawa, Taichi
AU - Nakamura, Keita
AU - Katsuyama, Ryosuke
AU - Kuwajima, Shunki
AU - Li, Ziyan
AU - Nomizu, Akira
AU - Okamoto, Riku
AU - Munakata, Toshitatsu
AU - Watanabe, Takanobu
N1 - Funding Information:
We thank Rohm Co., Ltd. for supporting the development of WiFly, and Mr. Naotaka Saito of LAPIS Semiconductor Co., Ltd. for providing the Lazurite Fly. This research was partly supported by the SCOPE “Innovation” program “Destructive Challenge Division” (grant number: INV0500101) from the Ministry of Internal Affairs and Communications. This research was conducted as part of the project (14P53) of the Research Institute for Science and Engineering.
Publisher Copyright:
© Fuji Technlogy Press Ltd.
PY - 2021
Y1 - 2021
N2 - This paper describes the development of a flappingwing unmanned aerial vehicle (UAV) named WiFly, which is equipped with a center-of-gravity (COG) shift mechanism. This mechanism allows seamless changes in the flight attitude between hovering and level flight by controlling the pitch angle. We implemented two types of feedback control systems in WiFly: PID control and reinforcement learning (shallow Q-learning) to stabilize the flight attitude. The controllability of WiFly is drastically improved by employing a doublemotor drive system to independently control the flipping frequencies of the left and right wings.
AB - This paper describes the development of a flappingwing unmanned aerial vehicle (UAV) named WiFly, which is equipped with a center-of-gravity (COG) shift mechanism. This mechanism allows seamless changes in the flight attitude between hovering and level flight by controlling the pitch angle. We implemented two types of feedback control systems in WiFly: PID control and reinforcement learning (shallow Q-learning) to stabilize the flight attitude. The controllability of WiFly is drastically improved by employing a doublemotor drive system to independently control the flipping frequencies of the left and right wings.
KW - Feedback control of flight attitude
KW - Flapping-wing UAV
KW - Movable center of gravity
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U2 - 10.20965/jrm.2021.p0205
DO - 10.20965/jrm.2021.p0205
M3 - Article
AN - SCOPUS:85105912286
SN - 0915-3942
VL - 33
SP - 205
EP - 215
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
IS - 2
ER -