Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and experiment

Nekoo, Saeed Rafee; Ollero, Anibal

doi:10.1016/j.isatra.2023.08.001

Cited by 8 publications

(1 citation statement)

References 32 publications

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“…In the present study, we focus on the Coleoptera beetle species Coccinella septempunctata in Figure 1a, among various flying insects, as it is one of the heaviest of the smaller-size insects and has a pair of thick elytra among the biological flyers that meet the weight and size requirements of MAV [19][20][21][22]. Meanwhile, there have been few investigators who have studied the flight mechanism of the Coleopteran beetle [23][24][25][26][27].…”

Section: Introductionmentioning

confidence: 99%

Clap-and-Fling Mechanism of Climbing-Flight Coccinella Septempunctata

Yang,

Deng,

et al. 2024

Biomimetics

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Previous studies on the clap–fling mechanism have predominantly focused on the initial downward and forward phases of flight in miniature insects, either during hovering or forward flight. However, this study presents the first comprehensive kinematic data of Coccinella septempunctata during climbing flight. It reveals, for the first time, that a clap-and-fling mechanism occurs during the initial upward and backward phase of the hind wings’ motion. This discovery addresses the previously limited understanding of the clap-and-fling mechanism by demonstrating that, during the clap motion, the leading edges of beetle’s wings come into proximity to form a figure-eight shape before rotating around their trailing edge to open into a “V” shape. By employing numerical solutions to solve Navier–Stokes (N-S) equations, we simulated both single hind wings’ and double hind wings’ aerodynamic conditions. Our findings demonstrate that this fling mechanism not only significantly enhances the lift coefficient by approximately 9.65% but also reduces the drag coefficient by about 1.7%, indicating an extension of the applicability range of this clap-and-fling mechanism beyond minute insect flight. Consequently, these insights into insect flight mechanics deepen our understanding of their biological characteristics and inspire advancements in robotics and biomimetics.

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