Piccolissimo is the smallest self-powered flying vehicle (to the best of our knowledge). Thanks to its passive stability, it can fly with only one actuator. This makes it simple and low cost to construct and less likely to have a component fail.

Passive Stability of MAVs Without Angular Momentum

We modeled and built Micro Aerial Vehicles (MAVs) that naturally hover without any sensing or control. These types of vehicles, called passively stabilized vehicles, can be made less complicated, more robust, and at lower cost with the addition of simple, yet carefully designed, stabilizer sails.


Smooth motion is critical to robotic applications like haptics or those requiring high precision force control. These systems are often direct-drive, so any torque ripple in the motor output must be minimal. Unfortunately, low inherent torque ripple motors are expensive. We came up with a method to map and suppress torque ripple from cogging torque so low cost motors can perform as well as expensive ones, while using only a position sensor, which is already required for servo control. We call this compensation “Anticogging”.