Publications

Articles

  • [DOI] M. Karásek, F. T. Muijres, C. {De Wagter}, B. D. W. Remes, and G. C. H. E. de Croon, “A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns,” Science, vol. 361, iss. 6407, p. 1089–1094, 2018.
    [Bibtex] 
    @article{Karasek2018,
abstract = {{\textless}p{\textgreater}Insects are among the most agile natural flyers. Hypotheses on their flight control cannot always be validated by experiments with animals or tethered robots. To this end, we developed a programmable and agile autonomous free-flying robot controlled through bio-inspired motion changes of its flapping wings. Despite being 55 times the size of a fruit fly, the robot can accurately mimic the rapid escape maneuvers of flies, including a correcting yaw rotation toward the escape heading. Because the robot's yaw control was turned off, we showed that these yaw rotations result from passive, translation-induced aerodynamic coupling between the yaw torque and the roll and pitch torques produced throughout the maneuver. The robot enables new methods for studying animal flight, and its flight characteristics allow for real-world flight missions.{\textless}/p{\textgreater}},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Muijres, Florian T. and {De Wagter}, Christophe and Remes, Bart D. W. and de Croon, Guido C. H. E.},
doi = {10.1126/science.aat0350},
issn = {0036-8075},
journal = {Science},
month = {sep},
number = {6407},
pages = {1089--1094},
publisher = {American Association for the Advancement of Science},
title = {{A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns}},
url = {http://www.sciencemag.org/lookup/doi/10.1126/science.aat0350},
volume = {361},
year = {2018}
}
  • [DOI] S. Tijmons, M. Karásek, and G. C. H. E. de Croon, “Attitude control system for a lightweight flapping wing MAV,” Bioinspiration & Biomimetics, 2018.
    [Bibtex] 
    @article{Tijmons2018,
author = {Tijmons, Sjoerd and Kar{\'{a}}sek, Mat{\v{e}}j and de Croon, Guido C. H. E.},
doi = {10.1088/1748-3190/aab68c},
issn = {1748-3182},
journal = {Bioinspiration {\&} Biomimetics},
month = {mar},
publisher = {IOP Publishing},
title = {{Attitude control system for a lightweight flapping wing MAV}},
url = {http://iopscience.iop.org/article/10.1088/1748-3190/aab68c},
year = {2018}
}
  • [DOI] S. F. Armanini, M. Karásek, G. C. H. E. de Croon, and C. C. de Visser, “Onboard/Offboard Sensor Fusion for High-Fidelity Flapping-Wing Robot Flight Data,” Journal of Guidance, Control, and Dynamics, p. 1–12, 2017.
    [Bibtex] 
    @article{Armanini2017,
author = {Armanini, Sophie F. and Kar{\'{a}}sek, Mat{\v{e}}j and de Croon, Guido C. H. E. and de Visser, Coen C.},
doi = {10.2514/1.G002527},
issn = {0731-5090},
journal = {Journal of Guidance, Control, and Dynamics},
month = {apr},
pages = {1--12},
publisher = {American Institute of Aeronautics and Astronautics},
title = {{Onboard/Offboard Sensor Fusion for High-Fidelity Flapping-Wing Robot Flight Data}},
url = {https://arc.aiaa.org/doi/10.2514/1.G002527},
year = {2017}
}
  • [DOI] A. Roshanbin, H. Altartouri, M. Karásek, and A. Preumont, “COLIBRI: A hovering flapping twin-wing robot,” International Journal of Micro Air Vehicles, vol. 9, iss. 4, p. 270–282, 2017.
    [Bibtex] 
    @article{Roshanbin2017,
abstract = {This paper describes the results of a six-year project aiming at designing and constructing a flapping twin-wing robot of the size of hummingbird (Colibri in French) capable of hovering. Our prototype has a total mass of 22 g, a wing span of 21 cm and a flapping frequency of 22 Hz; it is actively stabilized in pitch and roll by changing the wing camber with a mechanism known as wing twist modulation. The proposed design of wing twist modulation effectively alters the mean lift vector with respect to the center of gravity by reorganization of the airflow. This mechanism is modulated by an onboard control board which calculates the corrective feedback control signals through a closed-loop PD controller in order to stabilize the robot. Currently, there is no control on the yaw axis which is passively stable, and the vertical position is controlled manually by tuning the flapping frequency. The paper describes the recent evolution of the various sub-systems: the wings, the flapping mechanism, the generation o...},
author = {Roshanbin, A and Altartouri, H and Kar{\'{a}}sek, Mat{\v{e}}j and Preumont, Andr{\'{e}}},
doi = {10.1177/1756829317695563},
issn = {1756-8293},
journal = {International Journal of Micro Air Vehicles},
keywords = {Hovering flapping wing robot,active stabilization,hummingbird,wing twist modulation},
month = {mar},
number = {4},
pages = {270--282},
publisher = {SAGE PublicationsSage UK: London, England},
title = {{COLIBRI: A hovering flapping twin-wing robot}},
url = {http://journals.sagepub.com/doi/10.1177/1756829317695563},
volume = {9},
year = {2017}
}
  • [DOI] Y. Nan, M. Karásek, M. E. Lalami, and A. Preumont, “Experimental optimization of wing shape for a hummingbird-like flapping wing micro air vehicle,” Bioinspiration & Biomimetics, vol. 12, iss. 2, p. 26010, 2017.
    [Bibtex] 
    @article{Nan2017,
author = {Nan, Yanghai and Kar{\'{a}}sek, Mat{\v{e}}j and Lalami, Mohamed Esseghir and Preumont, Andr{\'{e}}},
doi = {10.1088/1748-3190/aa5c9e},
file = {:C$\backslash$:/Users/matej/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Nan et al. - 2017 - Experimental optimization of wing shape for a hummingbird-like flapping wing micro air vehicle.pdf:pdf},
issn = {1748-3190},
journal = {Bioinspiration {\&} Biomimetics},
month = {mar},
number = {2},
pages = {026010},
publisher = {IOP Publishing},
title = {{Experimental optimization of wing shape for a hummingbird-like flapping wing micro air vehicle}},
url = {http://stacks.iop.org/1748-3190/12/i=2/a=026010?key=crossref.e8eef5e332a5a74736a3c8ccbd0db1de},
volume = {12},
year = {2017}
}
  • M. Karásek, M. Percin, T. Cunis, B. W. van Oudheusden, C. {De Wagter}, B. D. W. Remes, and G. C. H. E. de Croon, “First free-flight flow visualisation of a flapping-wing robot,” , 2016.
    [Bibtex] 
    @article{Karasek2016a,
abstract = {Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using robotic flyers. Such an approach holds a promise for a more systematic and repeatable methodology for flow visualisation, through a better controlled flight. Such experiments require high precision position control, however, and until now this was not possible due to the challenging flight dynamics and payload restrictions of flapping wing Micro Air Vehicles (FWMAV). Here, we present a new FWMAV-specific control approach that, by employing an external motion tracking system, achieved autonomous wind tunnel flight with a maximum root-mean-square position error of 28 mm at low speeds (0.8 - 1.2 m/s) and 75 mm at high speeds (2 - 2.4 m/s). This allowed the first free-flight flow visualisation experiments to be conducted with an FWMAV. Time-resolved stereoscopic Particle Image Velocimetry (PIV) was used to reconstruct the 3D flow patterns of the FWMAV wake. A good qualitative match was found in comparison to a tethered configuration at similar conditions, suggesting that the obtained free-flight measurements are reliable and meaningful.},
archivePrefix = {arXiv},
arxivId = {1612.07645},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Percin, Mustafa and Cunis, Torbj{\o}rn and van Oudheusden, Bas W. and {De Wagter}, Christophe and Remes, Bart D. W. and de Croon, Guido C. H. E.},
eprint = {1612.07645},
month = {dec},
title = {{First free-flight flow visualisation of a flapping-wing robot}},
url = {http://arxiv.org/abs/1612.07645},
year = {2016}
}
  • [DOI] M. Karásek, A. Hua, Y. Nan, M. E. Lalami, and A. Preumont, “Pitch and Roll Control Mechanism for a Hovering Flapping Wing MAV,” International Journal of Micro Air Vehicles, vol. 6, iss. 4, p. 253–264, 2014.
    [Bibtex] 
    @article{Karasek2014,
abstract = {Hovering flapping flight is inherently unstable and needs to be stabilized actively. We present a control mechanism that modulates independently the wing flapping amplitude and offset by displacing joints of a flapping linkage mechanism. We demonstrate its performance by high speed camera recordings of the wing motion as well as by direct measurements of pitch moment and lift force. While flapping at 17 Hz the prototype produces 90 mN of lift and generates pitch moments from -0.7 N.mm to 1.1 N.mm. The mechanism shows low level of cross-coupling in combined pitch and roll commands.},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Hua, Alexandre and Nan, Yanghai and Lalami, Mohamed Esseghir and Preumont, Andr{\'{e}}},
doi = {10.1260/1756-8293.6.4.253},
issn = {1756-8293},
journal = {International Journal of Micro Air Vehicles},
language = {en},
month = {feb},
number = {4},
pages = {253--264},
publisher = {Multi Science Publishing},
title = {{Pitch and Roll Control Mechanism for a Hovering Flapping Wing MAV}},
url = {http://multi-science.atypon.com/doi/abs/10.1260/1756-8293.6.4.253?journalCode=ijmav http://multi-science.metapress.com/openurl.asp?genre=article{\&}id=doi:10.1260/1756-8293.6.4.253},
volume = {6},
year = {2014}
}
  • [DOI] M. Karásek, I. Romanescu, A. Preumont, and Y. Nan, “Pitch Moment Generation and Measurement in a Robotic Hummingbird,” International Journal of Micro Air Vehicles, vol. 5, iss. September, p. 299–309, 2013.
    [Bibtex] 
    @article{Karasek2013,
abstract = {Micro Air Vehicles (MAVs) with flapping wings try to mimic their biological counterparts, insects and hummingbirds, as they can combine high agility manoeuvres with precision hovering flight. Near-hovering flapping flight is naturally unstable and needs to be stabilized actively. We present a novel mechanism for pitch moment generation in a robotic hummingbird that uses wing twist modulation via flexible wing root bars. A custom build force balance, sensitive enough to measure the cycle averaged pitch moment as well as lift force, is also presented. The introduced prototype mechanism generates pitch moment of up to ± 50g.mm. Finally we integrate a Shape Memory Alloy (SMA) wire to actuate the wing root bar ends. We present achievable displacement versus bandwidth as well as generated pitch moment.},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Romanescu, Iulian and Preumont, Andr{\'{e}} and Nan, Yanghai},
doi = {10.1260/1756-8293.5.4.299},
issn = {17568293},
journal = {International Journal of Micro Air Vehicles},
language = {en},
month = {feb},
number = {September},
pages = {299--309},
publisher = {Multi Science Publishing},
title = {{Pitch Moment Generation and Measurement in a Robotic Hummingbird}},
url = {http://multi-science.atypon.com/doi/abs/10.1260/1756-8293.5.4.299?journalCode=ijmav},
volume = {5},
year = {2013}
}
  • [DOI] M. Karásek and A. Preumont, “Flapping flight stability in hover: A comparison of various aerodynamic models,” International Journal of Micro Air Vehicles, vol. 4, iss. 3, p. 203–226, 2012.
    [Bibtex] 
    @article{Karasek2012,
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Preumont, Andr{\'{e}}},
doi = {https://doi.org/10.1260/1756-8293.4.3.203},
journal = {International Journal of Micro Air Vehicles},
number = {3},
pages = {203--226},
title = {{Flapping flight stability in hover: A comparison of various aerodynamic models}},
url = {http://journals.sagepub.com/doi/10.1260/1756-8293.4.3.203},
volume = {4},
year = {2012}
}
  • [DOI] M. Valášek, J. Zicha, M. Karásek, and R. Hudec, “Hexasphere—Redundantly Actuated Parallel Spherical Mechanism as a New Concept of Agile Telescope,” Advances in Astronomy, vol. 2010, p. 1–6, 2010.
    [Bibtex] 
    @article{Valasek2010a,
abstract = {{\textless}p{\textgreater} The paper deals with the description of a new concept for a spherical mechanism for agile telescopes. It is based on redundantly actuated parallel kinematical structure. Due to the three times overactuated structure and application of several further innovative concepts, the Hexasphere achieves the movability of {\textless}math{\textgreater} {\textless}mo{\textgreater}±{\textless}/mo{\textgreater} {\textless}/math{\textgreater} 100 degrees. This enables the use of a Hexasphere as the basis for mounts of telescopes. Such telescopes can be optimized for minimum weight or for maximum dynamics. The proposed mechanism is expected to play a role in novel robotic telescopes nowadays used in many fields of astronomy and astrophysics, with emphasis on automated systems for alert observations of celestial gamma-ray bursts. {\textless}/p{\textgreater}},
author = {Val{\'{a}}{\v{s}}ek, Michael and Zicha, Josef and Kar{\'{a}}sek, Mat{\v{e}}j and Hudec, Rene},
doi = {10.1155/2010/348286},
issn = {1687-7969},
journal = {Advances in Astronomy},
pages = {1--6},
publisher = {Hindawi Publishing Corporation},
title = {{Hexasphere—Redundantly Actuated Parallel Spherical Mechanism as a New Concept of Agile Telescope}},
url = {http://www.hindawi.com/journals/aa/2010/348286/},
volume = {2010},
year = {2010}
}

In Proceedings

  • [DOI] F. G. Rijks, M. Karásek, S. F. Armanini, and C. C. de Visser, “Studying the Effect of the Tail on the Dynamics of a Flapping-Wing MAV using Free-Flight Data,” in 2018 AIAA Atmospheric Flight Mechanics Conference, Reston, Virginia, 2018.
    [Bibtex] 
    @inproceedings{Rijks2018,
address = {Reston, Virginia},
author = {Rijks, Frank G. and Kar{\'{a}}sek, Mat{\v{e}}j and Armanini, Sophie F. and de Visser, Coen C.},
booktitle = {2018 AIAA Atmospheric Flight Mechanics Conference},
doi = {10.2514/6.2018-0524},
isbn = {978-1-62410-525-8},
month = {jan},
publisher = {American Institute of Aeronautics and Astronautics},
title = {{Studying the Effect of the Tail on the Dynamics of a Flapping-Wing MAV using Free-Flight Data}},
url = {https://arc.aiaa.org/doi/10.2514/6.2018-0524},
year = {2018}
}
  • [DOI] S. F. Armanini, M. Karásek, and C. C. de Visser, “Global LPV model identification of flapping-wing dynamics using flight data,” in 2018 AIAA Modeling and Simulation Technologies Conference, Reston, Virginia, 2018.
    [Bibtex] 
    @inproceedings{Armanini2018,
address = {Reston, Virginia},
author = {Armanini, Sophie F. and Kar{\'{a}}sek, Mat{\v{e}}j and de Visser, Coen C.},
booktitle = {2018 AIAA Modeling and Simulation Technologies Conference},
doi = {10.2514/6.2018-2156},
isbn = {978-1-62410-528-9},
month = {jan},
publisher = {American Institute of Aeronautics and Astronautics},
title = {{Global LPV model identification of flapping-wing dynamics using flight data}},
url = {https://arc.aiaa.org/doi/10.2514/6.2018-2156},
year = {2018}
}
  • A. D. E. Herrero, M. Percin, M. Karásek, and B. W. van Oudheusden, “Flow Visualization around a Flapping-Wing Micro Air Vehicle in Free Flight,” in 18th International Symposium on Flow Visualization ISFV 18, Zurich, Switzerland, 2018.
    [Bibtex] 
    @inproceedings{Herrero2018,
address = {Zurich, Switzerland},
author = {Herrero, Alejandro D.E. and Percin, Mustafa and Kar{\'{a}}sek, Mat{\v{e}}j and van Oudheusden, Bas W.},
booktitle = {18th International Symposium on Flow Visualization ISFV 18},
title = {{Flow Visualization around a Flapping-Wing Micro Air Vehicle in Free Flight}},
year = {2018}
}
  • B. {Martínez Gallar}, B. W. van Oudheusden, A. Sciacchitano, and M. Karásek, “Large-Scale Flow Visualization of a Flapping-Wing Micro Air Vehicle,” in 18th International Symposium on Flow Visualization ISFV 18, Zurich, Switzerland, 2018.
    [Bibtex] 
    @inproceedings{MartinezGallar2018,
address = {Zurich, Switzerland},
author = {{Mart{\'{i}}nez Gallar}, Blanca and van Oudheusden, Bas W. and Sciacchitano, Andrea and Kar{\'{a}}sek, Mat{\v{e}}j},
booktitle = {18th International Symposium on Flow Visualization ISFV 18},
title = {{Large-Scale Flow Visualization of a Flapping-Wing Micro Air Vehicle}},
year = {2018}
}
  • K. Y. W. Scheper, M. Karásek, C. {De Wagter}, B. D. W. Remes, and G. C. H. E. de Croon, “First autonomous multi-room exploration with an insect-inspired flapping wing vehicle,” in 2018 International Conference on Robotics and Automation, Brisbane, Australia, 2018, p. 7.
    [Bibtex] 
    @inproceedings{Scheper2018,
address = {Brisbane, Australia},
author = {Scheper, Kirk Y W and Kar{\'{a}}sek, Mat{\v{e}}j and {De Wagter}, Christophe and Remes, Bart D. W. and de Croon, Guido C. H. E.},
booktitle = {2018 International Conference on Robotics and Automation},
pages = {7},
title = {{First autonomous multi-room exploration with an insect-inspired flapping wing vehicle}},
year = {2018}
}
  • [DOI] J. V. Caetano, S. F. Armanini, and M. Karásek, “In-flight data acquisition and flight testing for system identification of flapping-wing MAVs,” in 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, p. 646–655.
    [Bibtex] 
    @inproceedings{Caetano2017,
author = {Caetano, J.V. and Armanini, Sophie F. and Kar{\'{a}}sek, Mat{\v{e}}j},
booktitle = {2017 International Conference on Unmanned Aircraft Systems (ICUAS)},
doi = {10.1109/ICUAS.2017.7991452},
isbn = {978-1-5090-4495-5},
month = {jun},
pages = {646--655},
publisher = {IEEE},
title = {{In-flight data acquisition and flight testing for system identification of flapping-wing MAVs}},
url = {http://ieeexplore.ieee.org/document/7991452/},
year = {2017}
}
  • [DOI] S. F. Armanini, M. Karásek, C. C. de Visser, G. C. H. E. de Croon, and M. Mulder, “Flight Testing and Preliminary Analysis for Global System Identification of Ornithopter Dynamics Using On-board and Off-board Data,” in AIAA Atmospheric Flight Mechanics Conference, Reston, Virginia, 2017, p. AIAA 2017–1634.
    [Bibtex] 
    @inproceedings{Armanini2017,
address = {Reston, Virginia},
author = {Armanini, Sophie F. and Kar{\'{a}}sek, Mat{\v{e}}j and de Visser, Coen C. and de Croon, Guido C. H. E. and Mulder, Max},
booktitle = {AIAA Atmospheric Flight Mechanics Conference},
doi = {10.2514/6.2017-1634},
isbn = {978-1-62410-448-0},
month = {jan},
pages = {AIAA 2017--1634},
publisher = {American Institute of Aeronautics and Astronautics},
title = {{Flight Testing and Preliminary Analysis for Global System Identification of Ornithopter Dynamics Using On-board and Off-board Data}},
year = {2017}
}
  • C. {De Wagter}, M. Karásek, and G. C. H. E. de Croon, “Quad-thopter: Tailless Flapping Wing Robot with 4 Pairs of Wings,” in 9th International Micro Air Vehicles Conference and Competition, Toulouse, France, 2017, p. 249 – 256.
    [Bibtex] 
    @inproceedings{DeWagter2017,
abstract = {We present a novel design of a tailless flapping wing Micro Air Vehicle (MAV), which uses four independently driven pairs of flapping wings in order to fly and perform agile maneuvers. The wing pairs are arranged such that differential thrust generates the desired roll and pitch moments, similar to a quadrotor. Moreover, two pairs of wings are tilted clockwise and two pairs of wings anti-clockwise. This allows the MAV to generate a yaw moment. We have constructed the design and performed multiple flight tests with it, both indoors and outdoors. These tests have shown the vehicle to be capable of agile maneuvers, and able to cope with wind gusts. The main advantage is that the proposed design is relatively simple to produce, and yet has the capabilities expected of tailless flapping wing MAVs.},
address = {Toulouse, France},
author = {{De Wagter}, Christophe and Kar{\'{a}}sek, Mat{\v{e}}j and de Croon, Guido C. H. E.},
booktitle = {9th International Micro Air Vehicles Conference and Competition},
editor = {Moschetta, J.-M. and Hattenberg, G. and de Plinval, H.},
pages = {249 -- 256},
title = {{Quad-thopter: Tailless Flapping Wing Robot with 4 Pairs of Wings}},
url = {https://repository.tudelft.nl/islandora/object/uuid:b4fc2b39-b8b1-4791-b071-98557a7254f0?collection=research},
year = {2017}
}
  • T. Cunis, M. Karásek, and G. C. H. E. de Croon, “Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel,” in The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21, 2016.
    [Bibtex] 
    @inproceedings{Cunis2016,
author = {Cunis, Torbj{\o}rn and Kar{\'{a}}sek, Mat{\v{e}}j and de Croon, Guido C. H. E.},
booktitle = {The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21},
keywords = {DelFly,MAVLab},
mendeley-tags = {DelFly,MAVLab},
title = {{Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel}},
year = {2016}
}
  • M. Karásek, A. J. Koopmans, S. F. Armanini, B. D. W. Remes, and G. C. H. E. de Croon, “Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU,” in The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016, 2016.
    [Bibtex] 
    @inproceedings{Karasek2016,
abstract = {Despite an intensive research on flapping flight and flapping wing MAVs in recent years, there are still no accurate models of flapping flight dynamics. This is partly due to lack of free flight data, in particular during manoeuvres. In this work, we present, for the first time, a comparison of free flight forces estimated using solely an on-board IMU with wind tunnel measurements. The IMU based estimation brings higher sampling rates and even lower variation among individual wingbeats, compared to what has been achieved with an external motion tracking system in the past. A good match was found in comparison to wind tunnel measurements; the slight differences observed are attributed to clamping effects. Further insight was gained from the on-board rpm sensor, which showed motor speed variation of +/- 15{\%} due to load variation over a wingbeat cycle. The IMU based force estimation represents an attractive solution for future studies of flapping wing MAVs as, unlike wind tunnel measurements, it allows force estimation at high temporal resolutions also during manoeuvres.},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Koopmans, J Andries and Armanini, Sophie F. and Remes, Bart D. W. and de Croon, Guido C. H. E.},
booktitle = {The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016},
keywords = {DelFly,MAVLab},
mendeley-tags = {DelFly,MAVLab},
title = {{Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU}},
year = {2016}
}
  • M. Karásek, I. Romanescu, and A. Preumont, “Pitch Moment Generation and Measurement in a Robotic Hummingbird,” in International Micro Air Vehicle Conference and Flight Competition 2013 (IMAV2013), 2013, p. 17–20.
    [Bibtex] 
    @inproceedings{Karasek2013,
abstract = {Micro Air Vehicles (MAVs) with flapping wings try to mimic their biological counterparts, insects and hummingbirds, as they can combine high agility manoeuvres with precision hovering flight. Near-hovering flapping flight is naturally unstable and needs to be stabilized actively. We present a novel mechanism for pitch moment generation in a robotic hummingbird that uses wing twist modulation via flexible wing root bars. A custom build force balance, sensitive enough to measure the cycle averaged pitch moment as well as lift force, is also presented. The introduced prototype mechanism generates pitch moment of up to ± 50g.mm. Finally we integrate a Shape Memory Alloy (SMA) wire to actuate the wing root bar ends. We present achievable displacement versus bandwidth as well as generated pitch moment.},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Romanescu, Iulian and Preumont, Andr{\'{e}}},
booktitle = {International Micro Air Vehicle Conference and Flight Competition 2013 (IMAV2013)},
issn = {17568293},
number = {September},
pages = {17--20},
title = {{Pitch Moment Generation and Measurement in a Robotic Hummingbird}},
year = {2013}
}
  • M. Karásek and A. Preumont, “Simulation of Flight Control of a Hummingbird Like Robot Near Hover,” in Engineering Mechanics 2012, Svratka, Czech Republic, 2012, p. 607–619.
    [Bibtex] 
    @inproceedings{Karasek2012a,
abstract = {Interest in Micro Air Vehicles (MAVs) capable of hovering is gradually increasing because they can be a low-cost solution for security applications or remote inspection. Much research has centred on designs inspired by insects and hummingbirds, where the propellers are replaced by flapping wings. It is assumed that that flapping wings improve, at small scales, both manoeuvrability and energy efficiency. This numerical work based on quasi-steady aerodynamics applies to a hummingbird robot with a pair of flapping wings and a 12 cm wingspan. We construct a control derivatives matrix that estimates the effect of each wing kinematics parameter on the cycle averaged wing forces and forms the key stone of the flight controller. We implement the controller in a simulation model with rigid body dynamics and "continuous" (i.e. not averaged) aerodynamics. The simulation results show that the controller stabilizes the robot attitude and controls the flight in 4 DOF (translation in any direction + yaw rotation) by modifying only 2 wing kinematic parameters per wing-the flapping amplitude and the mean wing position. Other control parameters are possible. Thus, various mechanical design solutions can be studied in the future.},
address = {Svratka, Czech Republic},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Preumont, Andr{\'{e}}},
booktitle = {Engineering Mechanics 2012},
pages = {607--619},
title = {{Simulation of Flight Control of a Hummingbird Like Robot Near Hover}},
url = {http://www.engmech.cz/improc/2012/322{\_}Karasek{\_}M-FT.pdf},
year = {2012}
}
  • M. Karásek and A. Preumont, “Robotic hummingbird – simulation model and longitudinal flight control,” in International Workshop on Bio-Inspired Robots, Nantes, 2011.
    [Bibtex] 
    @inproceedings{Karasek2011a,
address = {Nantes},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Preumont, Andr{\'{e}}},
booktitle = {International Workshop on Bio-Inspired Robots},
title = {{Robotic hummingbird – simulation model and longitudinal flight control}},
year = {2011}
}
  • M. Karásek and A. Preumont, “Control of longitudinal flight of a robotic hummingbird model,” in ECCOMAS Thematic Conference on Smart Structures and Materials, Saarbrucken, Germany, 2011, p. 15.
    [Bibtex] 
    @inproceedings{Karasek2011,
address = {Saarbrucken, Germany},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Preumont, Andr{\'{e}}},
booktitle = {ECCOMAS Thematic Conference on Smart Structures and Materials},
pages = {15},
title = {{Control of longitudinal flight of a robotic hummingbird model}},
year = {2011}
}
  • M. Valášek and M. Karásek, “Kinematical Analysis of HexaSphere,” in Engineering Mechanics 2009, Svratka, Czech Republic, 2009, p. 8.
    [Bibtex] 
    @inproceedings{Valasek2009,
address = {Svratka, Czech Republic},
author = {Val{\'{a}}{\v{s}}ek, Michael and Kar{\'{a}}sek, Mat{\v{e}}j},
booktitle = {Engineering Mechanics 2009},
pages = {8},
title = {{Kinematical Analysis of HexaSphere}},
year = {2009}
}
  • M. Karásek and M. Valášek, “Mechatronic Spherical Joints for Increased Mobility,” in Computational Mechanics, Hrad Nectiny, Czech Republic, 2009, p. 8.
    [Bibtex] 
    @inproceedings{Karasek2009,
address = {Hrad Nectiny, Czech Republic},
author = {Kar{\'{a}}sek, Mat{\v{e}}j and Val{\'{a}}{\v{s}}ek, Michael},
booktitle = {Computational Mechanics},
pages = {8},
title = {{Mechatronic Spherical Joints for Increased Mobility}},
year = {2009}
}

Technical Reports

  • M. Karásek, “Model aktivního sférického kloubu (Model of Active Spherical Joint), MSc thesis,” Czech Technical University in Prague 2008.
    [Bibtex] 
    @techreport{Karasek2009,
author = {Kar{\'{a}}sek, Mat{\v{e}}j},
institution = {Czech Technical University in Prague},
pages = {66},
title = {{Model aktivn{\'{i}}ho sf{\'{e}}rick{\'{e}}ho kloubu (Model of Active Spherical Joint), MSc thesis}},
year = {2008}
}

Dissertations

  • M. Karásek, “Robotic hummingbird: Design of a control mechanism for a hovering flapping wing micro air vehicle,” PhD Thesis, 2014.
    [Bibtex] 
    @phdthesis{Karasek2014a,
abstract = {The objective of this thesis was to develop a control mechanism for a robotic hummingbird, a bio-inspired tail-less hovering flapping wing MAV. The mechanism should generate moments necessary for flight stabilization and steering by an independent control of flapping motion of each wing. The theoretical part of this work uses a quasi-steady modelling approach to approximate the flapping wing aerodynamics. The model is linearised and further reduced to study the flight stability near hovering, identify the wing motion parameters suitable for control and finally design a flight controller. Validity of this approach is demonstrated by simulations with the original, non-linear mathematical model. A robotic hummingbird prototype is developed in the second, practical part. Details are given on the flapping linkage mechanism and wing design, together with tests performed on a custom built force balance and with a high speed camera. Finally, two possible control mechanisms are proposed: the first one is based on wing twist modulation via wing root bars flexing; the second modulates the flapping amplitude and offset via flapping mechanism joint displacements. The performance of the control mechanism prototypes is demonstrated experimentally.},
author = {Kar{\'{a}}sek, Mat{\v{e}}j},
pages = {191},
school = {Universite Libre de Bruxelles},
title = {{Robotic hummingbird: Design of a control mechanism for a hovering flapping wing micro air vehicle}},
year = {2014}
}

In Collections

  • [DOI] M. Valášek and M. Karásek, “HexaSphere with Cable Actuation,” in Recent Advances in Mechatronics, Berlin, Heidelberg: Springer Berlin Heidelberg, 2010, p. 239–244.
    [Bibtex] 
    @incollection{Valasek2010,
address = {Berlin, Heidelberg},
author = {Val{\'{a}}{\v{s}}ek, Michael and Kar{\'{a}}sek, Mat{\v{e}}j},
booktitle = {Recent Advances in Mechatronics},
doi = {10.1007/978-3-642-05022-0_41},
file = {:C$\backslash$:/Users/matej/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Val{\'{a}}{\v{s}}ek, Kar{\'{a}}sek - 2010 - HexaSphere with Cable Actuation.pdf:pdf},
pages = {239--244},
publisher = {Springer Berlin Heidelberg},
title = {{HexaSphere with Cable Actuation}},
url = {http://link.springer.com/10.1007/978-3-642-05022-0{\_}41},
year = {2010}
}

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