https://zilin-chen-22.github.io/zilinchen.github.io/tag/lightweight-robotics/Lightweight RoboticsHugo Blox Builder (https://hugoblox.com)en-usTue, 04 Mar 2025 00:00:00 +0000https://zilin-chen-22.github.io/zilinchen.github.io/media/icon_hu7729264130191091259.pnghttps://zilin-chen-22.github.io/zilinchen.github.io/tag/lightweight-robotics/https://zilin-chen-22.github.io/zilinchen.github.io/blog/dea_drone/Tue, 04 Mar 2025 00:00:00 +0000https://zilin-chen-22.github.io/zilinchen.github.io/blog/dea_drone/<p>Since March 2025, I have been collaborating with Professor <strong>Huichan Zhao</strong> to develop an innovative flight control system for an ultra-lightweight drone utilizing soft artificial muscles. The drone weighs only 23 grams and employs Dielectric Elastomer Actuators (DEA) as its primary propulsion mechanism.</p> <h2 id="project-overview">Project Overview</h2> <p>This research focuses on overcoming the unique challenges of controlling drones powered by soft artificial muscles. Unlike traditional motor-based systems, DEA actuators offer silent operation, high energy efficiency, and biomimetic movement patterns, but require specialized control approaches due to their nonlinear electromechanical properties.</p> <h3 id="flight-controller-development">Flight Controller Development</h3> <p>I am designing a custom flight controller architecture specifically optimized for DEA-driven drones:</p> <ul> <li>Implemented real-time control algorithms accounting for DEA hysteresis and viscoelastic behavior</li> <li>Developed adaptive PID controllers with gain scheduling for voltage-to-strain conversion</li> <li>Integrated sensor fusion for IMU data processing with Kalman filtering</li> </ul> <h3 id="simulator-implementation">Simulator Implementation</h3> <p>To enable safe testing and rapid prototyping, I built a physics-based simulator featuring:</p> <ul> <li>High-fidelity DEA actuator models with electromechanical coupling dynamics</li> <li>Aerodynamic modeling for ultra-lightweight frames</li> <li>Real-time visualization of drone state and actuator deformation</li> </ul> <h2 id="technical-challenges">Technical Challenges</h2> <p>The project addresses several key research challenges:</p> <ol> <li><strong>Nonlinear Control</strong>: Compensating for DEA&rsquo;s voltage-dependent strain response and creep effects</li> <li><strong>Weight Constraints</strong>: Implementing full control stack within 23g total system mass</li> </ol> <h2 id="current-progress">Current Progress</h2> <p>As of today, we have achieved:</p> <ul> <li>Successful closed-loop attitude control in simulation with &lt;5° steady-state error</li> <li>Preliminary flight tests in mujoco simulation, demonstrating basic stabilization capabilities</li> </ul> <div style="text-align: center;"> <img src="noise_control.png" alt="simulation image" style="width: 40%;"> <img src="stable.png" alt="simulation image" style="width: 40%;"> </div> <p>[Project repository link to be added upon publication]</p>