相关论文: Modeling and LQR Control of Insect Sized Flapping …
Biological flapping wing fliers operate efficiently and robustly in a wide range of flight conditions and are a great source of inspiration to engineers. The unsteady aerodynamics of flapping-wings are dominated by large-scale vortical…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the…
Saving energy and enhancing performance are secular preoccupations shared by both nature and human beings. In animal locomotion, flapping flyers or swimmers rely on the flexibility of their wings or body to passively increase their…
Anyone who has tried to swat a fly has likely been frustrated by its remarkable agility.This ability stems from its visual neural perception system, particularly the collision-selective neurons within its small brain.For autonomous robots…
Stability of flapping flight, a natural requirement for flying insects, is one of the major challenges for designing micro aerial vehicles (MAVs). To better understand how a flying insect could stabilize itself during hover, we have…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Avian-informed drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remains challenging due to the lack of generalized control…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by…
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…
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 wings exhibit fast wing articulation and can mobilize as…
Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuverability, and physical interaction with the environment,…
The mechanism by which a tiny insect or insect-sized robot could estimate its absolute velocity and distance to nearby objects remains unknown. However, this ability is critical for behaviors that require estimating wind direction during…
Tiltrotors are an aircraft concept with the ability to rotate their rotors freely, achieving vertical take-off and fast forward flight. The combination of helicopter and fixed-wing flight into one aircraft provides versatility in mission…
Wings of flying animals can not only generate lift and control torques but also can sense their surroundings. Such dual functions of sensing and actuation coupled in one element are particularly useful for small sized bio-inspired robotic…
Controlled gliding is one of the most energetically efficient modes of transportation for natural and human powered fliers. Here we demonstrate that gliding and landing strategies with different optimality criteria can be identified through…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
In this paper, two nonlinear methods for stabilizing the orientation of a Four-Wheel Independent Drive and Steering (4WIDS) robot while in the air are analyzed, implemented in simulation, and compared. AGRO (the Agile Ground Robot) is a…
Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using…