A hybrid dynamic model for bio-inspired soft robots &amp;#x2014; Application to a flapping-wing micro air vehicle

Porez, Mathieu; Boyer, Frédéric; Belkhiri, Ayman

doi:10.1109/icra.2014.6907372

Cited by 13 publications

(31 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The considered robot is composed of a rigid thorax and two soft wings whose the deformations are concentrated along the leading edge (see figure 1). In order to model such a soft system, we propose, as [14], to discretize each wing of the robot in a serial assembly of M planar rigid sections connected together by a 1-DoF angular joint aligned with the leading edge. The model of twisting is linear with stiffness coefficient K e and damping coefficient K v .…”

Section: A Parametrisation and Notationsmentioning

confidence: 99%

Computational morphology for a soft micro air vehicle in hovering flight

Chevallereau

Porez²,

Boyer³

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

Bio-inspired by moth or humming-birds, several micro air vehicles (MAV) have recently been developed. In these systems, the motion of the lifting surface is complex and modeled by flapping motion-controlled soft wings. The synchronization of the actuated periodic flapping motion of the wings and that of passive twisting degrees of freedom (dof) allows producing hovering flight. Depending on the feature of the MAV such as stiffness, and geometric characteristic, hovering flight can be naturally stable or not. In the first case hovering is obtained via an open loop control (or a local closed loop control) while in the second case a global control strategy is required to achieve the same objectives. Thus, it is crucial to take into account the influence of the design of the MAV on the control in order to choose an appropriate morphology that can reduce the burden of control. In this paper mathematical tools and methodologies are proposed to achieve this objective and reduce the computational cost of control.

show abstract

Section: A Parametrisation and Notationsmentioning

confidence: 99%

Computational morphology for a soft micro air vehicle in hovering flight

Chevallereau

Porez²,

Boyer³

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…α measures the height of the connection point of the actuated joints above the ellipsoidal body's Center of Mass (CoM). design of the MAV defined in table I [33], and one passive (twisting) joint per wing, cyclic motions have been found for a wing-beat frequency ranging from 7 Hz to 43 Hz. Different hovering flights controlled with the beating law (7), are illustrated on figure 4, which shows the needed amplitude expressed as a function of the frequency.…”

Section: B Hovering Flightmentioning

confidence: 99%

“…Once the motion of the actuated variables is fixed through (7), the motion of the MAV is entirely defined by the initial value of its passive (internal and external) state variables and its dynamic model [33]. Cyclic motion can be obtained through the numerical resolution of the boundaryvalue problem defined in section (III).…”

Section: B Hovering Flightmentioning

confidence: 99%

“…Going further into details, the quasi-steady forces are composed of the lift and drag forces applied on the center of pressure of each cross-section, or "blade", of the wing which are function of the square of the pressure center speed, the incidence angle of the cross-section with respect to the air flow speed, the mass density of air, and a set of empirical coefficients obtained from experiments [13]. Regarding the added mass forces, they can be derived from a kinetic momentum balance applied to the fluid which laterally bounds a wing section [33]. Finally, let us point out that since the systems subject to smooth external contacts do not experience discontinuity of their state, their vector field f + of (1), merely stands for the identity.…”

Section: ) Modelling Of Smooth External Contactsmentioning

confidence: 99%

“…Due to the approximations introduced by our idealized models, note that our purpose is not to recover the solutions invented by nature but rather to illustrate the role of morphology in stability with our general method. However, the starting design is directly inspired of the moth manduca sexta [19] (see [34] for details).…”

Section: Hovering Flight Of a Soft Wings Mavmentioning

confidence: 99%

See 2 more Smart Citations

Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion

Chevallereau¹,

Boyer²,

Porez³

et al. 2017

Bioinspir. Biomim.

Self Cite

View full text Add to dashboard Cite

self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion. Bioinspiration and Biomimetics, IOP Publishing, 2017, 12 (4), pp.46006 -46006. 10.1088/1748 Morphological self stabilization of locomotion gaits: Illustration on a few examples from bio-inspired locomotionChristine Chevallereau and Frederic Boyer and Mathieu Porez and Johan Mauny and Yannick Aoustin, Abstract-To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure the most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any highlevel control.

show abstract