Experimental Demonstration of the Vibrational Stabilization Phenomenon in Bio-Inspired Flying Robots
Experimental Demonstration of the Vibrational Stabilization Phenomenon in Bio-Inspired Flying Robots
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DOI：
10.1109/lra.2017.2778759
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发表时间：
2018-04
影响因子：
5.2
通讯作者：
Haithem E. Taha;M. Kiani;Joel Navarro
中科院分区：
文献类型：
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作者：
Haithem E. Taha;M. Kiani;Joel Navarro
仿生飞行机器人是一种微型飞行器，利用仿生驱动（振荡扑翼）进行升力、推进和控制。这些仿生系统的动力学行为研究非常复杂，因为它通常由多体、多时间尺度、非线性、时变的动力系统来描述。然而，这种丰富的动态导致了非常规的稳定机制，其研究本质上需要严格的数学分析。我们最近利用微分几何控制理论揭示了由于快速扑翼动力学和缓慢扑翼动力学之间的相互作用而引起的机体俯仰振动稳定机制。在这项工作中，我们构建了一个允许身体有两个自由度的实验设置；垂直运动和俯仰运动。目的是通过实验验证和证明昆虫飞行中的振动稳定现象及其模拟bibr。
Bio-inspired flying robots (BIFRs) are micro-air-vehicles that use biomimetic actuation (oscillatory flapping wing) for lift, propulsion, and control. The dynamic behavior of these bio-inspired systems is quite intricate to study as it is typically described by a multibody, multi-time-scale, nonlinear, time-varying dynamical system. However, this rich dynamics lead to unconventional stabilization mechanisms whose study essentially necessitates a mathematically rigorous analysis. Our recent efforts using differential geometric control theory revealed a vibrational stabilization mechanism induced on the body pitching due to the interaction between the fast wing flapping dynamics and the slow body dynamics. In this effort, we construct an experimental setup allowing for two degrees of freedom for the body; vertical motion and pitching motion. The objective is to experimentally verify and demonstrate the vibrational stabilization phenomenon in insect flight and its mimicking BIFRs.