Trajectory planning for a bat-like flapping wing robot

Hoff, Jonathan; Syed, Usman Ahmed; Ramezani, Alireza; Hutchinson, Seth

doi:10.1109/iros40897.2019.8968450

Cited by 25 publications

(23 citation statements)

References 21 publications

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“…We captured a set of load cell measurements at various airspeed and flapping frequencies and simulated it under the same conditions. The simulation was performed in Matlab where the ODE in (22) was marched forward in time using the 4'th order Runge-Kutta algorithm. Finally, we compared the simulated lift and drag forces with the load cell measurements (the load cell x and z-axis force measurements, respectively) to verify the accuracy of our model.…”

Section: Simulation and Experimental Resultsmentioning

confidence: 99%

Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function

Sihite¹,

Ghanem²,

Adarsh³

et al. 2022

Preprint

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Flying animals possess highly complex physical characteristics and are capable of performing agile maneuvers using their wings. The flapping wings generate complex wake structures that influence the aerodynamic forces, which can be difficult to model. While it is possible to model these forces using fluid-structure interaction, it is very computationally expensive and difficult to formulate. In this paper, we follow a simpler approach by deriving the aerodynamic forces using a relatively small number of states and presenting them in a simple statespace form. The formulation utilizes Prandtl's lifting line theory and Wagner's function to determine the unsteady aerodynamic forces acting on the wing in a simulation, which then are compared to experimental data of the bat-inspired robot called the Aerobat. The simulated trailing-edge vortex shedding can be evaluated from this model, which then can be analyzed for a wake-based gait design approach to improve the aerodynamic performance of the robot.

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Section: Simulation and Experimental Resultsmentioning

confidence: 99%

Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function

Sihite¹,

Ghanem²,

Adarsh³

et al. 2022

Preprint

Self Cite

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show abstract

“…The flapping-wing aircraft equipped with good maneuverability, fine flexibility and high flight efficiency is designed based on the motivation of flying creatures like birds and insects, and has become a hot area of research recently [1,2]. However, the constant dynamic oscillation resulting from their inherent flapping propulsion mechanism makes it difficult to hover steadily like a rotorcraft.…”

Section: Introductionmentioning

confidence: 99%

Limit cycle oscillation suppression controller design and stability analysis of the periodically time-varying flapping flight dynamics in hover

et al. 2022

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The periodically time-varying forces make the equilibrium state of Beihawk, an X-shaped flapping-wing aircraft, to be a periodic limit cycle oscillation. However, traditional controllers based on averaging theory fail to suppress this oscillation and the derived stability result may be inaccurate. In this study, a period-based method is proposed to design the oscillation suppression controller, locate the corresponding cycle and analyze its stability. A periodically time-varying wing-tail interaction model is built and Discrete Fourier Transform is applied to adapt the model for controller design. The harmonics less than quintuple flapping frequency account for more than 96 percent of the total harmonics and are reserved to present a concise model. Based on this model, Active Disturbance Rejection Controller (ADRC) is designed and its Extended State Observer can observe the disturbance to suppress the oscillation.Poincaré map is introduced to convert the stability analysis of the cycle to a fixed point. A multiple shooting method is adopted to locate several points on the cycle and

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“…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

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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.

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Trajectory planning for a bat-like flapping wing robot

Cited by 25 publications

References 21 publications

Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function

Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function

Limit cycle oscillation suppression controller design and stability analysis of the periodically time-varying flapping flight dynamics in hover

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

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