Vibrational control: A hidden stabilization mechanism in insect flight
Vibrational control: A hidden stabilization mechanism in insect flight
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振动控制： 昆虫飞行中隐藏的稳定机制
DOI：
10.1126/scirobotics.abb1502
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发表时间：
2020-09-30
期刊：
影响因子：
25
通讯作者：
Greeter, Jeremy S. M.
中科院分区：
文献类型：
--
作者：
Taha, Haithem E.;Kiani, Mohammadali;Greeter, Jeremy S. M.
昆虫在悬停时是不稳定的，这一点在生物学和工程界已被普遍接受。然而，现有的方法，依赖于直接平均不完全捕捉昆虫飞行的动力学特性和稳定性特征。在这里，我们揭示了一种被动的稳定机制，昆虫利用其自然的翅膀振荡：振动稳定。这种稳定技术不能使用文献中常用的平均方法来捕获。相反，它是用一种特殊类型的演算来阐明的：时间演算。我们的结果是支持通过实验的真实的天蛾受到俯仰干扰悬停。这一发现对生物学家特别有用，因为振动稳定机制也可能被许多其他生物利用。此外，我们的研究结果可能会激发更优化的设计仿生飞行机器人放松飞行的反馈控制要求。
It is generally accepted among biology and engineering communities that insects are unstable at hover. However, existing approaches that rely on direct averaging do not fully capture the dynamical features and stability characteristics of insect flight. Here, we reveal a passive stabilization mechanism that insects exploit through their natural wing oscillations: vibrational stabilization. This stabilization technique cannot be captured using the averaging approach commonly used in literature. In contrast, it is elucidated using a special type of calculus: the chronological calculus. Our result is supported through experiments on a real hawkmoth subjected to pitch disturbance from hovering. This finding could be particularly useful to biologists because the vibrational stabilization mechanism may also be exploited by many other creatures. Moreover, our results may inspire more optimal designs for bioinspired flying robots by relaxing the feedback control requirements of flight.