Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird

Xu Liang; Erzhen Pan; Hui Xu; Juntao Liu; Yuanpeng Wang; Xiaokun Hu; Wenfu Xu

doi:10.1007/978-3-030-27535-8_33

Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird

Xu Liang
, Erzhen Pan
, Hui Xu
, Juntao Liu
, Yuanpeng Wang
, Xiaokun Hu
, Wenfu Xu^*

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A Flapping-wing robotic bird is an aircraft that mimics the structure and flight of a bird. It flies by fluttering the wings and uses the tail to adjust the attitude of the fuselage in real time. Such type of flight poses a challenge for visual surveillance, because the position of its center of mass and the attitude of the body are very difficult to maintain stable and supply ideal conditions for the camera on it. In this paper, we develop a small intelligent camera stabilizer for a flapping-wing robotic bird. It is designed by considering the flight characteristics and the constrains on size, power and mass. It is composed of mechanical subsystem, sensing subsystem and an embedded controller. The main mechanism has 3-DOF, including 1-DOF for telescopic structure and 2-DOF for attitude adjustment. The sensing subsystem uses MPU6050 as attitude sensor and uses attitude quaternion to calculate Euler angle of both robotic bird and camera. The embedded controller is based on STM32F4 microchip and the Keil Uvision5 platform. Finally, the camera stabilizer is fabricated by integrating the subsystems. It only has 52 g in mass. Furthermore, it is tested and experimented. The results show that it has good stabilizing effect.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
Editors	Haibin Yu, Jinguo Liu, Lianqing Liu, Yuwang Liu, Zhaojie Ju, Dalin Zhou
Publisher	Springer Verlag
Pages	362-375
Number of pages	14
ISBN (Print)	9783030275341
DOIs	https://doi.org/10.1007/978-3-030-27535-8_33
State	Published - 2019
Externally published	Yes
Event	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 - Shenyang, China Duration: 8 Aug 2019 → 11 Aug 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11742 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Country/Territory	China
City	Shenyang
Period	8/08/19 → 11/08/19

Keywords

Camera stabilizer
Flapping wing
HIT-Hawk
Ornithopter
Robotic bird

Access to Document

10.1007/978-3-030-27535-8_33

Cite this

Liang, X., Pan, E., Xu, H., Liu, J., Wang, Y., Hu, X., & Xu, W. (2019). Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird. In H. Yu, J. Liu, L. Liu, Y. Liu, Z. Ju, & D. Zhou (Eds.), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings (pp. 362-375). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11742 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-27535-8_33

Liang, Xu ; Pan, Erzhen ; Xu, Hui et al. / Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird. Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. editor / Haibin Yu ; Jinguo Liu ; Lianqing Liu ; Yuwang Liu ; Zhaojie Ju ; Dalin Zhou. Springer Verlag, 2019. pp. 362-375 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{82ba7acdeb144df0846a801a58e473b6,

title = "Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird",

abstract = "A Flapping-wing robotic bird is an aircraft that mimics the structure and flight of a bird. It flies by fluttering the wings and uses the tail to adjust the attitude of the fuselage in real time. Such type of flight poses a challenge for visual surveillance, because the position of its center of mass and the attitude of the body are very difficult to maintain stable and supply ideal conditions for the camera on it. In this paper, we develop a small intelligent camera stabilizer for a flapping-wing robotic bird. It is designed by considering the flight characteristics and the constrains on size, power and mass. It is composed of mechanical subsystem, sensing subsystem and an embedded controller. The main mechanism has 3-DOF, including 1-DOF for telescopic structure and 2-DOF for attitude adjustment. The sensing subsystem uses MPU6050 as attitude sensor and uses attitude quaternion to calculate Euler angle of both robotic bird and camera. The embedded controller is based on STM32F4 microchip and the Keil Uvision5 platform. Finally, the camera stabilizer is fabricated by integrating the subsystems. It only has 52 g in mass. Furthermore, it is tested and experimented. The results show that it has good stabilizing effect.",

keywords = "Camera stabilizer, Flapping wing, HIT-Hawk, Ornithopter, Robotic bird",

author = "Xu Liang and Erzhen Pan and Hui Xu and Juntao Liu and Yuanpeng Wang and Xiaokun Hu and Wenfu Xu",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",

year = "2019",

doi = "10.1007/978-3-030-27535-8\_33",

language = "英语",

isbn = "9783030275341",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "362--375",

editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",

booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",

address = "德国",

}

Liang, X, Pan, E, Xu, H, Liu, J, Wang, Y, Hu, X & Xu, W 2019, Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird. in H Yu, J Liu, L Liu, Y Liu, Z Ju & D Zhou (eds), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11742 LNAI, Springer Verlag, pp. 362-375, 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, Shenyang, China, 8/08/19. https://doi.org/10.1007/978-3-030-27535-8_33

Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird. / Liang, Xu; Pan, Erzhen; Xu, Hui et al.
Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. ed. / Haibin Yu; Jinguo Liu; Lianqing Liu; Yuwang Liu; Zhaojie Ju; Dalin Zhou. Springer Verlag, 2019. p. 362-375 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11742 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird

AU - Liang, Xu

AU - Pan, Erzhen

AU - Xu, Hui

AU - Liu, Juntao

AU - Wang, Yuanpeng

AU - Hu, Xiaokun

AU - Xu, Wenfu

PY - 2019

Y1 - 2019

N2 - A Flapping-wing robotic bird is an aircraft that mimics the structure and flight of a bird. It flies by fluttering the wings and uses the tail to adjust the attitude of the fuselage in real time. Such type of flight poses a challenge for visual surveillance, because the position of its center of mass and the attitude of the body are very difficult to maintain stable and supply ideal conditions for the camera on it. In this paper, we develop a small intelligent camera stabilizer for a flapping-wing robotic bird. It is designed by considering the flight characteristics and the constrains on size, power and mass. It is composed of mechanical subsystem, sensing subsystem and an embedded controller. The main mechanism has 3-DOF, including 1-DOF for telescopic structure and 2-DOF for attitude adjustment. The sensing subsystem uses MPU6050 as attitude sensor and uses attitude quaternion to calculate Euler angle of both robotic bird and camera. The embedded controller is based on STM32F4 microchip and the Keil Uvision5 platform. Finally, the camera stabilizer is fabricated by integrating the subsystems. It only has 52 g in mass. Furthermore, it is tested and experimented. The results show that it has good stabilizing effect.

AB - A Flapping-wing robotic bird is an aircraft that mimics the structure and flight of a bird. It flies by fluttering the wings and uses the tail to adjust the attitude of the fuselage in real time. Such type of flight poses a challenge for visual surveillance, because the position of its center of mass and the attitude of the body are very difficult to maintain stable and supply ideal conditions for the camera on it. In this paper, we develop a small intelligent camera stabilizer for a flapping-wing robotic bird. It is designed by considering the flight characteristics and the constrains on size, power and mass. It is composed of mechanical subsystem, sensing subsystem and an embedded controller. The main mechanism has 3-DOF, including 1-DOF for telescopic structure and 2-DOF for attitude adjustment. The sensing subsystem uses MPU6050 as attitude sensor and uses attitude quaternion to calculate Euler angle of both robotic bird and camera. The embedded controller is based on STM32F4 microchip and the Keil Uvision5 platform. Finally, the camera stabilizer is fabricated by integrating the subsystems. It only has 52 g in mass. Furthermore, it is tested and experimented. The results show that it has good stabilizing effect.

KW - Camera stabilizer

KW - Flapping wing

KW - HIT-Hawk

KW - Ornithopter

KW - Robotic bird

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DO - 10.1007/978-3-030-27535-8_33

M3 - 会议稿件

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SN - 9783030275341

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings

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A2 - Liu, Jinguo

A2 - Liu, Lianqing

A2 - Liu, Yuwang

A2 - Ju, Zhaojie

A2 - Zhou, Dalin

PB - Springer Verlag

T2 - 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019

Y2 - 8 August 2019 through 11 August 2019

ER -

Liang X, Pan E, Xu H, Liu J, Wang Y, Hu X et al. Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird. In Yu H, Liu J, Liu L, Liu Y, Ju Z, Zhou D, editors, Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Springer Verlag. 2019. p. 362-375. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-27535-8_33

Design and control of a small intelligent camera stabilizer for a flapping-wing robotic bird

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Keywords

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