Related papers: Orientation stabilization in a bioinspired bat-rob…
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 are known for their pronounced, fast wing articulations,…
The objective of this work is to design and develop a bio-inspired soft and articulated armwing structure which will be an integral component of a morphing aerial co-bot, Aerobat. In our design, we draw inspiration from bats. Bat membranous…
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible…
The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane which has complex dynamics and it is difficult to develop a…
This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike…
Flapping wing flight is a challenging dynamical problem and is also a very fascinating subject to study in the field of biomimetic robotics. A Bat, in particular, has a very articulated armwing mechanism with high degrees-of-freedom and…
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…
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…
We employ a novel computational modeling framework to perform high-fidelity direct numerical simulations of aero-structural interactions in bat-inspired membrane wings. The wing of a bat consists of an elastic membrane supported by a highly…
This work briefly covers our efforts to stabilize the flight dynamics of Northeastern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design…
The flight characteristics of bats remarkably have been overlooked in aerial drone designs. Unlike other animals, bats leverage the manipulation of inertial dynamics to exhibit aerial flip turns when they perch. Inspired by this unique…
Flying vertebrates exhibit sophisticated wingbeat kinematics. Their specialized forelimbs allow for the wing morphing motion to couple with the flapping motion during their level flight, Previous flyable bionic platforms have successfully…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
The large active wing deformation is a significant way to generate high aerodynamic forces required in bat flapping flight. Besides the twisting, the elementary morphing models of a bat wing are proposed, such as wing-bending in the…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
Birds and bats are extremely adept flyers: whether in hunting prey, or evading predators, post-stall manoeuvrability is a characteristic of vital importance. Their performance, in this regard, greatly exceeds that of uncrewed aerial…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
The primary aim of this study is to enhance the accuracy of our aerodynamic Fluid-Structure Interaction (FSI) model to support the controlled tracking of 3D flight trajectories by Aerobat, which is a dynamic morphing winged drone. Building…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…