A hybrid dynamic model of an insect-like MAV with soft wings

Abstract

This paper presents a hybrid dynamic model of a 3-D aerial insect-like robot. The soft-bodied insect wings modeling is based on a continuous version of the Newton-Euler dynamics where the leading edge is treated as a continuous Cosserat beam. These wings are connected to an insect's rigid thorax using a discrete recursive algorithm based on the Newton-Euler equations. Here we detail the inverse dynamic model algorithm. This version of the dynamic model solves the following two problems involved in any locomotion task: 1 •) it enables the net motion of a reference body to be computed from the known data of internal motions (strain fields); 2 •) it gives the internal torques required to impose these internal (strain fields) motions. The essential fluid effects have been taken into account using a simplified analytical hovering flight aerodynamic model. To facilitate the analysis of numerical results, a visualization tool is developed (see video available at [1]).

Multibody system dynamics for bio-inspired locomotion: from geometric structures to computational aspects

“…Finally, the generalization of the algorithm in figure 8 from discrete systems to the case of (open chain) continuous systems has received a solution in [18] and has been used to study fish swimming [19,22] as well as the terrestrial locomotion of elongated animals such as snakes and worms [14], along with hovering flight [10]. For the purpose of illustration, some of these results are displayed in figure 10.…”

A Rigid-Flexible Coupling Dynamic Model for Robotic Manta with Flexible Pectoral Fins

“…In this case, the manta robot is considered a typical mobile rigid multibody system. The commonly valid assumption is that the structure of the flexible fins is composed of a series of rigid links attached by compliant joints [7,8].…”

“…The evolution of this system is described by ordinary differential equations (ODE), capturing the physical properties of flexible fins, such as bending stiffness, material damping, and inertial effects. The establishment of ODE is based on a Newton-Euler recursive algorithm, which is applied by Boyer et al [7,8] for the first time to model the flexible flapping wings of a flying insect-like robot. The advantage of this algorithm is that it integrates the dynamics of the redundant structure of the robot in a concise and rapid way.…”

Dynamique de la locomotion bio-inspirée en robotique

“…Comme dans le cas discret, ces équations (25) généralisation de l'algorithme de la figure 12, des systèmes discrets aux systèmes continus (à chaîne ouverte) a reçu une solution dans [23] et a été utilisée pour étudier la nage des poissons [12,70], la locomotion terrestre d'animaux allongés comme les serpents et les vers [26] et le vol stationnaire inspiré des insectes [71]. À titre d'illustration, certains de ces résultats sont présentés dans la figure 14.…”