Fig. 3: The flight motion control of the helicopter-like photoactuator.
From: Bioinspired rotary flight of light-driven composite films
a Schematic illustration showing the angle of attack (β) of the airscrew structure. b The effect of the angle of attack on the flight height. c Schematic showing the elevation angle (θ) of the helicopter-like photoactuator. d Schematic illustration, (e) overlaid CCD images, (f) the motion trajectory and (g) the corresponding force analysis showing the helicopter-like photoactuator flying to the left rear, which is realized by controlling the elevation angle. The images are captured from Supplementary Movie 6. h The influence of elevation angle on the flight height. i Schematic illustration, (j) overlaid CCD images, (k) the motion trajectory and (l) the corresponding force analysis showing the helicopter-like photoactuator flying to the right rear, which is realized by controlling the elevation angle. The images are captured from Supplementary Movie 7. Note that the distance to the left is defined as negative. The top view schemes indicating the driving force and rotational direction are shown in the insets in (e) and (j), respectively. Fprop, solid red arrow, is the propulsion force generated as a result of the fast rotation. Fhoriz, dashed red arrow, represents the horizontal component force. Flift, dashed red arrow, is the vertical component force (lift force). G, solid yellow arrow, is the gravitational force of the photoactuator. Error bars denote the standard deviation.
