Related papers: Optimized Body Deformation in Dragonfly Maneuvers
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
The normal distribution and its perturbation has left an immense mark on the statistical literature. Hence, several generalized forms were developed to model different skewness, kurtosis, and body shapes. However, it is not easy to…
A notable feature of the elephant trunk is the pronounced wrinkling that enables its great flexibility. Here, we devise a general mathematical model that accounts for the characteristic skin wrinkles formed during morphogenesis in the…
Wing flapping is one of the most widespread propulsion methods found in nature; however, the current understanding of the aerodynamics in bird wakes is incomplete. The role of the unsteady motion in the flow and its contribution to the…
Dynamic soaring allows seabirds to harvest mechanical energy from vertical wind shear, but field trajectories lack a benchmark for comparing flight performances across species. We derive a reduced lower bound on transport effort from a…
Marine mammal biomechanics research has focused on straight-line swimming at consistent speeds, resulting in a lack of knowledge about how animals select movement strategies to balance cost vs performance during tasks like cornering. In…
This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…
Multirotors can be effectively applied to various tasks, such as transportation, investigation, exploration, and lifesaving, depending on the type of payload. However, due to the nature of multirotors, the payload loaded on the multirotor…
Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamically morph their highly flexible and dexterous armwing to…
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…
Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential…
Stretching and retracting wingspan has been widely observed in the flight of birds and bats, and its effects on the aerodynamic performance particularly lift generation are intriguing. The rectangular flat-plate flapping wing with a…
Turbulent winds and gusts fluctuate on a wide range of timescales from milliseconds to minutes and longer, a range that overlaps the timescales of avian flight behavior, yet the importance of turbulence to avian behavior is unclear. By…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
We study experimentally a four-winged flapping flyer with chord-wise flexible wings in a self-propelled setup. For a given physical configuration of the flyer (i.e. fixed distance between the forewing and hindwing pairs and fixed wing…
The goal of the present paper is to make a numerical analysis of parametric optimization of low thrust orbital maneuver. An orbital maneuver occurs when it is necessary to modify the orbit a space vehicle to change its function or to…
Biological locomotion, observed in the flexible wings of birds and insects, bodies and fins of aquatic mammals and fishes, consists of their ability to morph the wings/fins. The morphing capability holds significance in the abilities of…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Flying insects execute aerial maneuvers through subtle manipulations of their wing motions. Here, we measure the free flight kinematics of fruit flies and determine how they modulate their wing pitching to induce sharp turns. By analyzing…
High-speed water entry of projectiles and diving systems induces high forces and jerk to the entering bodies due to the development of large hydrodynamic pressure. Previous research has shown separately that the peak forces can be reduced…