@article {Lok2018,
	title = {A Low Mass Power Electronics Unit to Drive Piezoelectric Actuators for Flying Microrobots},
	journal = {IEEE Transactions on Power Electronics},
	volume = {33},
	year = {2018},
	pages = {3180 - 3191},
	abstract = {This paper presents a power electronics design for the piezoelectric actuators of an insect-scale flapping-wing robot, the RoboBee. The proposed design outputs four high-voltage drive signals tailored for the two bimorph actuators of the RoboBee in an alternating drive configuration. It utilizes fully integrated drive stage circuits with a novel highside gate driver to save chip area and meet the strict mass constraint of the RoboBee. Compared with previous integrated designs, it also boosts efficiency in delivering energy to the actuators and recovering unused energy by applying three power saving techniques, dynamic common mode adjustment, envelope tracking, and charge sharing. Using this design to energize four 15 nF capacitor loads with a 200 V and 100 Hz drive signal and tracking the control commands recorded from an actual flight experiment for the robot, we measure an average power consumption of 290 mW.},
	keywords = {robobees},
	url = {https://doi.org/10.1109/TPEL.2017.2704290},
	author = {Mario Lok and Elizabeth Farrell Helbling and Xuan Zhang and Robert Wood and David Brooks and Gu  Wei}
}
