Computational Structure Design of a Bio-Inspired Armwing Mechanism
Computational Structure Design of a Bio-Inspired Armwing Mechanism
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DOI：
10.1109/lra.2020.3010217
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发表时间：
2020-07
影响因子：
5.2
通讯作者：
Eric N. Sihite;Peter Kelly;A. Ramezani
中科院分区：
文献类型：
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作者：
Eric N. Sihite;Peter Kelly;A. Ramezani
蝙蝠膜状翅膀具有独特的功能，使其成为借鉴和改造现有无人机的一个很好的例子。与其他会飞的脊椎动物相比，蝙蝠有一个非常灵活的肌肉骨骼系统，这是它们具有令人印象深刻的适应性和多模式运动的能量效率的关键。这种飞行装置的仿生学是一项重大的工程考验，我们寻求通过复杂的形态学相互作用来实现机械智能。这种形态计算或机械智能使我们注意到一个明显的事实，即在形态边界和闭环反馈之间存在共同的互连。在这项工作中，我们证明了几个有生物学意义的自由度可以通过机械智能相互连接，因此，反馈驱动组件（例如，驱动关节）的责任被纳入计算形态学。本研究的结果对具有铰接体的仿生微型飞行器（MAVs）的设计有重要贡献，该飞行器具有效率、安全性和耐碰撞性等特性。
Bat membranous wings possess unique functions that make them a good example to take inspiration from and transform current aerial drones. In contrast with other flying vertebrates, bats have an extremely articulated musculoskeletal system which is key to their energetic efficiency with impressively adaptive and multimodal locomotion. Biomimicry of this flight apparatus is a significant engineering ordeal and we seek to achieve mechanical intelligence through sophisticated interactions of morphology. Such morphological computation or mechanical intelligence draws our attention to the obvious fact that there is a common interconnection between the boundaries of morphology and closed-loop feedback. In this work, we demonstrate that several biologically meaningful degrees of freedom can be interconnected to one another by mechanical intelligence and, as a result, the responsibility of feedback-driven components (e.g., actuated joints) is subsumed under computational morphology. The results reported in this work significantly contribute to the design of bio-inspired Micro Aerial Vehicles (MAVs) with articulated body and attributes such as efficiency, safety, and collision-tolerance.