Enforcing nonholonomic constraints in Aerobat, a roosting flapping wing model

Sihite, Eric; Ramezani, Alireza

doi:10.1109/cdc42340.2020.9304158

Cited by 17 publications

(15 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The armwing extends during the downstroke and retracts during the upstroke which serves to minimize the negative lift and increase the flapping gait efficiency. The dynamic modeling and simulation of Aerobat flapping under four meaningful DoFs (plunging, elbow flexion/extension, mediolateral movement, and feathering) was investigated in [32] where the wing is modeled as a rigid plate and using optimization to find a steady flapping gait and upside-down perching maneuver.…”

Section: Overview Of Aerobat a Platform To Test The Mimic Frameworkmentioning

confidence: 99%

See 1 more Smart Citation

An Integrated Mechanical Intelligence and Control Approach Towards Flight Control of Aerobat

Sihite¹,

Darabi²,

Dangol³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations, e.g., bats can mobilize as many as forty joints during a single wingbeat, with some joints reaching to over one thousand degrees per second in angular speed. Copying bats flight is a significant ordeal, however, very rewarding. Aerial drones with morphing bodies similar to bats can be safer, agile and energy efficient owing to their articulated and soft wings. Current design paradigms have failed to copy bat flight because they assume only closed-loop feedback roles and ignore computational roles carried out by morphology. To respond to the urgency, a design framework called Morphing via Integrated Mechanical Intelligence and Control (MIMIC) is proposed. In this paper, using the dynamic model of Northeastern University's Aerobat, which is designed to test the effectiveness of the MIMIC framework, it will be shown that computational structures and closed-loop feedback can be successfully used to mimic bats stable flight apparatus.

show abstract

Section: Overview Of Aerobat a Platform To Test The Mimic Frameworkmentioning

confidence: 99%

“…This design captures the elbow flexion and extension that allow the wing to fold during upstroke. The MIMIC framework will be the continuation of our past attempts at developing control framework for bio-inspired flapping wing drones in [23], [27]- [32].…”

Section: Introductionmentioning

confidence: 99%

An Integrated Mechanical Intelligence and Control Approach Towards Flight Control of Aerobat

Sihite¹,

Darabi²,

Dangol³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…The aerodynamic forces are modeled following a simple quasi-steady blade element model for its simplicity using a similar method to our previously developed simulation model. 32 This model follows the drag and lift coefficients developed by Dickinson. 35 The Aerobat's morphing wing can be categorized into four wing segments: humerus and radius wing segment on each left and right wing.…”

Section: Dynamic Modelingmentioning

confidence: 99%

“…The MIMIC framework will be the continuation of our past attempts at developing control framework for bio-inspired flapping wing drones. 23,[27][28][29][30][31][32]…”

Section: Introductionmentioning

confidence: 99%

Orientation stabilization in a bioinspired bat-robot using integrated mechanical intelligence and control

Sihite¹,

Lessieur²,

Dangol³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats wings exhibit fast wing articulation and can mobilize as many as 40 joints within a single wingbeat. Mimicking bat flight can be a significant ordeal and the current design paradigms have failed as they assume only closed-loop feedback roles through sensors and conventional actuators while ignoring the computational role carried by morphology. In this paper, we propose a design framework called Morphing via Integrated Mechanical Intelligence and Control (MIMIC) which integrates a small and low energy actuators to control the robot through a change in morphology. In this paper, using the dynamic model of Northeastern University's Aerobat, which is designed to test the effectiveness of the MIMIC framework, it will be shown that computational structures and closed-loop feedback can be successfully used to mimic bats stable flight apparatus.

show abstract

“…As part of our past work, we have developed a flapping wing robot mimicking bat flight, the BatBot (B2), [9][10][11][12][13][14][15][16][17][18] which incorporates a linkage mechanism to articulate plunging motion and wing folding through mediolateral movements. In our most recent work, we have developed a computational structure fabricated monolithically using soft and rigid components, 19,20 as shown in Fig. 1.…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and fabrication of a kinetic sculpture with application to bioinspired drone design

Lessieur¹,

Sihite²,

Dangol³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take inspiration from as they exhibit complex wing articulation. We attempt to capture several of the key degreesof-freedom that are present in the natural flapping gait of a bat. In this work, we present the mechanical design and analysis of our flapping wing robot, the Aerobat, where we capture the plunging and flexion-extension in the bat's flapping modes. This robot utilizes gears, cranks, and four-bar linkage mechanisms to actuate the arm-wing structure composed of rigid and flexible components monolithically fabricated using PolyJet 3D printing. The resulting robot exhibits wing expansion and retraction during the downstroke and upstroke respectively which minimizes the negative lift and results in a more efficient flapping gait.

show abstract

Enforcing nonholonomic constraints in Aerobat, a roosting flapping wing model

Cited by 17 publications

References 20 publications

An Integrated Mechanical Intelligence and Control Approach Towards Flight Control of Aerobat

An Integrated Mechanical Intelligence and Control Approach Towards Flight Control of Aerobat

Orientation stabilization in a bioinspired bat-robot using integrated mechanical intelligence and control

Mechanical design and fabrication of a kinetic sculpture with application to bioinspired drone design

Contact Info

Product

Resources

About