Real-time microforce sensors and high speed vision system for insect flight control analysis

Abstract. In this paper, we show how ”bio-inspired ” robotics can benefit from a more generalized approach than case-by-case emulation. This generalization is obtained by investigating the design constraints found in biological organisms us-ing a reverse-engineering approach. To achieve this, we have developed two novel technologies that are well suited to analyze the biomechanics and neural control in insect flight. First, we present a micro-electro-mechanical (MEMS) force sen-sor for measuring flight forces. Second, we describe a 6000Hz high speed vision system for characterizing wing kinematics in real time. Finally, we integrate these technologies within a tethered flight ”simulator ” for open and closed-loop investi-gations of sensory-motor pathways. Initial results are presented and future research perspectives are discussed. 1 Introduction and State-of-Art 1.1 The need for generalization in ”bio-inspired ” robotics Robotics and biology have a strong potential to interact and mutually benefit from each other. On the one hand, biology provides engineering with mode