Spiking Neural Network Control of a Flapping-Wing Robot on Resource-Constrained Hardware

arXiv:2605.19430 · cs.RO · Submitted 2026-05-19 · Read on arXiv

cs.RO

Submitted: 2026-05-19

Updated: 2026-09-23

Terminology

• PID Controller — 5× in this paper · explained in 2 episodes
• Central Pattern Generator — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Spiking Neural Networks (SNNs) — 3× in this paper · explained in 3 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Closed-Loop Control — 2× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Leaky Integrate-and-Fire — 2× in this paper
• Proximal Policy Optimization — 2× in this paper
• Actor — 1× in this paper · explained in 3 episodes
• Artificial Neural Network — 1× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Energy Efficiency — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Imitation Learning (IL) — 1× in this paper · explained in 2 episodes
• Inertial Measurement Unit — 1× in this paper
• Institute for AI Industry Research — 1× in this paper
• Loss Function — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Pulse-Width Modulation — 1× in this paper
• Recursive Least-Squares — 1× in this paper
• Regret — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Unmanned Aerial Vehicle — 1× in this paper

Sources

• A Deep Inverse-Mapping Model for a Flapping Robotic Wing
• A 26-Gram Tailless Butterfly-Inspired Flapping-Wing Robot with Onboard Attitude Control

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving