Article:  Clawson, TS; Ferrari, S; Fuller, SB; Wood, RJ; “Spiking Neural Network (SNN) Control of a Flapping Insect-scale Robot”, 2016 IEEE 55th Conference on Decision and Control (CDC), 3381-3388

Abstract:  The flapping microrobot known as RoboBee is the first robot to demonstrate insect-scale flight, as well as the most capable flying robotic insect to date. Controlled hover, trajectory-following, and perching have been accomplished by means of onboard sensors and actuators fabricated with the robot using a “pop-up book MEMS” process based on smart composite microstructures. This paper presents a RoboBee bio-inspired controller that closes the loop between the onboard sensors and actuators by means of a leaky integrate-and-fire spiking neural network that adapts in flight using a reward modulated Hebbian plasticity mechanism.