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Halteres for the micromechanical flying insect

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3 Author(s)
W. C. Wu ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; R. J. Wood ; R. S. Fearing

The mechanism which-real flying insects use to detect body rotation has been simulated. The results show that an angular rate sensor can be made based on such a biological mechanism. Two types of biomimetic gyroscopes have been constructed using foils of stainless steel. The first device is connected directly to a compliant cantilever. The second device is placed on a mechanically amplifying fourbar structure. Both devices are driven by piezoelectric actuators and detect the Coriolis force using strain gages. The experimental results show successful measurements of angular velocities and these devices have the benefits of low power and high sensitivity.

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Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:1 )

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