A 1.5g SMA actuated Microglider looking for the Light

Summarizing, we present a 1.5g gliding robot that can do phototaxis as a first step towards a novel palm sized self deploying microglider. To reduce the weight, we developed a 0.2g SMA actuator for rudder control that is harmoniously integrated in the airframe structure. We show that gliding flight is an energy efficient and easy to use aerial locomotion method for small robots.