A biomimetic robotic platform to study flight specializations of bats

Ramezani, Alireza; Chung, Soon‐Jo; Hutchinson, Seth

doi:10.1126/scirobotics.aal2505

Cited by 194 publications

(112 citation statements)

References 56 publications

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“…If a linear diffusive coupling is used, τ i would produce L similar to (4). The EulerLagrange equations appear routinely robotics in the study of rigid body motions of manipulators [26], [27] and spacecraft or aircraft (SE(3)), which have attitude dynamics on SO(3) [28]- [30] and often times have articulated wings [14], [31], [32], appendages, or manipulators attached:…”

Section: Physics-based Models For Robotic Agentsmentioning

confidence: 99%

A Survey on Aerial Swarm Robotics

et al. 2018

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Abstract-The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance of communication, sensing, and processing hardware. The commoditization of hardware has reduced unit costs, thereby lowering the barriers to entry to the field of aerial swarm robotics. A key enabling technology for swarms is the family of algorithms that allow the individual members of the swarm to communicate and allocate tasks amongst themselves, plan their trajectories, and coordinate their flight in such a way that the overall objectives of the swarm are achieved efficiently. These algorithms, often organized in a hierarchical fashion, endow the swarm with autonomy at every level, and the role of a human operator can be reduced, in principle, to interactions at a higher level without direct intervention. This technology depends on the clever and innovative application of theoretical tools from control and estimation. This paper reviews the state of the art of these theoretical tools, specifically focusing on how they have been developed for, and applied to, aerial swarms. Aerial swarms differ from swarms of ground-based vehicles in two respects: they operate in a three-dimensional (3-D) space, and the dynamics of individual vehicles adds an extra layer of complexity. We review dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing. The main sections of the paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping. Wherever possible, we indicate how the physics and subsystem technologies of aerial robots are brought to bear on these individual areas.

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Section: Physics-based Models For Robotic Agentsmentioning

confidence: 99%

A Survey on Aerial Swarm Robotics

et al. 2018

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“…Membrane wings have also been implemented on flapping wing robots, such as RoboRaven [88], where biaxially oriented polyethylene terephthalate (Mylar) wings were designed to passively deform in the presence of load to optimize the generation of aerodynamic forces. Similarly, in [89] a bat-inspired flying robot was designed in order to achieve the great agility of its biological counterpart and to verify a biological hypothesis concerning how these animals fly. In particular, the design of the wings exploited synergies observed in the wing motion to reproduce the natural movements of wings without mimicking their complex structure.…”

Section: Flapping Wing ( Powered Forward Flight and Hovering)mentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

242

147

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human -robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

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“…Biomimetic bat wings (figure 8g,h) integrate wing flapping and morphing. However, while these bat-inspired robots exhibit impressive ranges of motion and appear realistic, they have yet to achieve sustained flight [14,164,170].…”

Section: The Future Of Bio-inspired Flying Robotsmentioning

confidence: 99%

“…Bats perform less well than high-performance birds, in several metrics, but they are mostly on par with pigeons [159]. Data for scoring from [14,141,[159][160][161][162][163].…”

Section: Robotic Kinematics and Performancementioning

confidence: 99%

Inspiration for wing design: how forelimb specialization enables active flight in modern vertebrates

Chin¹,

Matloff²,

Stowers³

et al. 2017

J. R. Soc. Interface.

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Harnessing flight strategies refined by millions of years of evolution can help expedite the design of more efficient, manoeuvrable and robust flying robots. This review synthesizes recent advances and highlights remaining gaps in our understanding of how bird and bat wing adaptations enable effective flight. Included in this discussion is an evaluation of how current robotic analogues measure up to their biological sources of inspiration. Studies of vertebrate wings have revealed skeletal systems well suited for enduring the loads required during flight, but the mechanisms that drive coordinated motions between bones and connected integuments remain ill-described. Similarly, vertebrate flight muscles have adapted to sustain increased wing loading, but a lack of in vivo studies limits our understanding of specific muscular functions. Forelimb adaptations diverge at the integument level, but both bird feathers and bat membranes yield aerodynamic surfaces with a level of robustness unparalleled by engineered wings. These morphological adaptations enable a diverse range of kinematics tuned for different flight speeds and manoeuvres. By integrating vertebrate flight specializationsparticularly those that enable greater robustness and adaptability-into the design and control of robotic wings, engineers can begin narrowing the wide margin that currently exists between flying robots and vertebrates. In turn, these robotic wings can help biologists create experiments that would be impossible in vivo.

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A biomimetic robotic platform to study flight specializations of bats

Abstract: An articulated wing structure with a silicon-based skin enables a robot to mimic bat-like flight abilities.

Cited by 194 publications

References 56 publications

A Survey on Aerial Swarm Robotics

A Survey on Aerial Swarm Robotics

Fundamentals of soft robot locomotion

Inspiration for wing design: how forelimb specialization enables active flight in modern vertebrates

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