A hover-capable insect-inspired flying robot that can remain long in the air has shown its potential use for both confined indoor and outdoor applications to complete assigned tasks. In this letter, we report improvements in the flight endurance of our 15.8 g robot, named KUBeetle-S, using a low-voltage power source. The robot is equipped with a simple but effective control mechanism that can modulate the stroke plane for attitude stabilization and control. Due to the demand for extended flight, we performed a series of experiments on the lift generation and power requirement of the robot with different stroke amplitudes and wing areas. We show that a larger wing with less inboard wing area improves the lift-to-power ratio and produces a peak lift-to-weight ratio of 1.34 at 3.7 V application. Flight tests show that the robot employing the selected wing could hover for 8.8 minutes. Moreover, the robot could perform maneuvers in any direction, fly outdoors, and carry payload, demonstrating its ability to enter the next phase of autonomous flight.

中文翻译：

---

迈向受昆虫启发、无尾、两翼、扑翼飞行机器人的长航时飞行


一种具有悬停能力的昆虫飞行机器人，可以长时间在空中停留，已经显示出其在有限的室内和室外应用中完成指定任务的潜在用途。在这封信中，我们报告了我们的 15.8 克机器人（名为 KUBeetle-S）使用低压电源的飞行耐力的改进。该机器人配备了一个简单但有效的控制机制，可以调节行程平面以实现姿态稳定和控制。由于长时间飞行的需求，我们对不同行程幅度和机翼面积的机器人的升力产生和功率需求进行了一系列实验。我们证明，具有较小内侧机翼面积的较大机翼可提高升力功率比，并在 3.7 V 应用时产生 1.34 的峰值升力重量比。飞行测试表明，采用所选机翼的机器人可以悬停 8.8 分钟。此外，该机器人还可以进行任意方向的机动、户外飞行和携带有效载荷，展示了其进入下一阶段自主飞行的能力。