26克蝴蝶仿生扑翼机器人实现无尾自稳飞行，突破微型飞行器控制难题。
A 26-Gram Tailless Butterfly-Inspired Flapping-Wing Robot with Onboard Attitude Control
- 采用仿生翅脉结构与相位调制策略，解决低质量飞行器的振荡控制问题。
- 实测在爬升与转向中实现稳定姿态跟踪，成功完成无缆飞行。
- 适合微型无人机、复杂环境探测等对轻量化和稳定性要求高的场景。
蝴蝶仿生扑翼机器人使用宽幅柔性翅膀和低频驱动，但显著的翼拍同步体动与时变惯性给机载控制带来挑战。本文提出AirPulse，一款26克、双翼无尾的扑翼机器人，集成仿翅脉结构、感知、计算与供电系统，是对比平台中飞行就绪质量最低的。通过分析动态结构耦合，将预定的扑翼运动参数映射至六维力/力矩实测数据，实现控制通道系统化分配。为实现稳定扑动，提出基于相位域的振幅不对称节奏（STAR）调控策略，确保冲程速度平滑变化且维持平均扑翼频率。结合状态估计算法，机载反馈控制架构在无缆状态下成功实现了爬升与转向中的俯仰及方向跟踪。最终，AirPulse提供了实验验证的强振荡、低质量生物启发平台稳定化框架，为未来在敏感、狭小环境中的应用奠定基础。
原文摘要 · Abstract (English)
Butterfly-inspired flapping-wing robots use broad compliant wings and low-frequency actuation, but pronounced wingbeat-synchronous body dynamics and time-varying inertia complicate onboard control. Here, we introduce AirPulse, a 26 g two-winged tailless flapping-wing robot with integrated venation-inspired wings, sensing, computation, and power, representing the lowest flight-ready mass among compared butterfly-inspired platforms. We analyze the robot's dynamic structural coupling and map prescribed modulation parameters of flapping kinematics to experimental six-axis wrench profiles for systematic control channel allocation. To enable stable flapping motion, we formulate Stroke Timing Asymmetry Rhythm (STAR), a phase-domain modulation strategy that ensures smooth stroke velocity changes while preserving mean flapping frequencies. Coupled with state estimation, the onboard feedback control architecture demonstrates successful untethered pitch and directional tracking during climbing and turning maneuvers. Ultimately, the AirPulse robot offers an experimentally validated framework for stabilizing strongly oscillatory, low-mass bio-inspired platforms, providing a basis for future operation in sensitive, confined environments.
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