Takeoff of a 2.1 g Fully Untethered Tailless Flapping-Wing Micro Aerial Vehicle With Integrated Battery

Insect-scale micro-aerial vehicles (MAV) are becoming increasingly important for sensing and mapping spatially constrained environments. However, achieving untethered flight powered by a small and lightweight on-board energy source remains a challenge. In this study, we successfully demonstrated the untethered takeoff of a flapping-wing MAV powered by a commercially available LiPo battery for a short duration without stability control. By incorporating a high-efficiency direct-drive piezoelectric actuator, and an optimized control circuit for high-impedance-width modulation and charge recovery, this electronics configuration realizes over 5 min of practical operation with a thrust of 1.5 times its own weight, while offering wireless communication capability and sensors for attitude estimation. Our MAV has a total mass of 2.1 g, which is an eight-fold reduction compared to the lightest battery-powered tailless flapping-wing MAV currently available, making this the first report of a battery-powered tailless flapping-wing MAV with insect-scale weight.