seiko epson corporation (epson) has developed the FR(micro flying robot) to demonstrate the micromechatronics technology that it has cultivated in-house over the years and to explore the possibilities for microrobots and the development of component technology applications. the FR causes levitation by use of contra-rotating propellers powered by an ultra-thin, ultrasonic motor and can be balanced in mid-air by means of a stabilizing mechanism using a linear actuator. furthermore, the essence of micromechatronics has been brought together in high-density mounting technology to minimize the size and weight of the circuitry’s control unit. it weighs just 8.9 grams, the same as two to epson