Flapping flight for biomimetic robotic insects: part II-flight control design

Abstract

Abstract-This paper presents the mathematical modeling of flapping flight for inch-size micro aerial vehicles (MAVs). These vehicles, called Micromechanical Flying Insects (MFIs), are electromechanical devices propelled by a pair of independent flapping wings and are capable of sustained autonomous flight, and therefore mimic real flying insects. In particular, we describe the design and implementation of the Virtual Insect Flight Simulator (VIFS), a software tool intended for modeling true insect flight mechanisms and for testing the flight control algorithms of the MFIs. The VIFS includes models that have several elements which differ greatly from those with either larger rotary, or fixed wing MAVs. In particular, the VIFS simulates wing-thorax dynamics, the flapping flight aerodynamics at a low Reynolds number regime, and the biomimetic sensory system consisting of ocelli, halteres, magnetic compass and optical flow sensors. In this paper we present a mathematical description for each of these models based on biological principles and experimental data. All these models are designed in a modular fashion for quick upgrading and they are integrated together to give a realistic simulation for MFI flapping flight. The VIFS is intended to serve as a tool to evaluate the performance of the MFI flight control unit with an accurate low-level modeling of dynamics, actuators, sensors and environment.

Recent Developments in the Remote Radio Control of Insect Flight

“…which may help tease out the control circuits at work in the insect. In engineering, electronically controllable insects could be useful models for insect-mimicking M/NAV's (Micro/Nano Air Vehicles) (Wu et al, 2003; Schenato et al, 2004; Deng et al, 2006a,b; Wood, 2008). Furthermore, tetherless, electrically controllable insects themselves could be used as M/NAV's and serve as couriers to locations not easily accessible to humans or terrestrial robots.…”

Neurobiologically Inspired Control of Engineered Flapping Flight

“…5a), resulting in forward and backward reciprocating motions. This is the assumption used for some prior work [7,20,23,24]. In contrast, the stroke angle of birds and bats varies as a function of flight speed; at a low speed, the angle is almost horizontal ( s 90 deg) and it approaches s 0 deg as the flight speed increases.…”

“…There is relatively less prior work in control of flapping flight, with notable exceptions of [19,[23][24][25][26]. In this paper, we focus on three stereotyped motion primitives to define the three-dimensional movements of wings: main flapping (stroke) motion (Fig.…”

“…Previous robotic flapping flyers and their control design consider one or two degrees of freedom in the wings [17,19,20,23,24,[27][28][29][30][31][32][33][34]. However, even insects such as the dragonfly (Anax parthenope) are reported to have complex three-dimensional movements by actively controlling flapping and twisting of four independent wings [3].…”

A coupled oscillators-based control architecture for locomotory gaits

“…In many biologically inspired robotic systems, locomotion is effected by periodic actuation of the robot's internal degrees of freedom, which consequently induces a global displacement of the system. This approach has been applied to systems as varied as winged robots performing flapping flight [27], fish-like swimming robots [31], [6], micro-swimmers [4], [32], snakelike robots [11], [23], [7], and legged robots [9], [10], [13]. Even wheeled locomotion can be described in this way by explicitly defining the rotation of the wheels as the internal degrees of freedom.…”