Orientation stabilization in a bioinspired bat-robot using integrated mechanical intelligence and control

03/29/2021
by   Eric Sihite, et al.
0

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 many as 40 joints within a single wingbeat. Mimicking bat flight can be a significant ordeal and the current design paradigms have failed as they assume only closed-loop feedback roles through sensors and conventional actuators while ignoring the computational role carried by morphology. In this paper, we propose a design framework called Morphing via Integrated Mechanical Intelligence and Control (MIMIC) which integrates small and low energy actuators to control the robot through a change in morphology. In this paper, using the dynamic model of Northeastern University's Aerobat, which is designed to test the effectiveness of the MIMIC framework, it will be shown that computational structures and closed-loop feedback can be successfully used to mimic bats stable flight apparatus.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 3

03/29/2021

An Integrated Mechanical Intelligence and Control Approach Towards Flight Control of Aerobat

Our goal in this work is to expand the theory and practice of robot loco...
07/23/2021

Bio-inspired Rhythmic Locomotion in a Six-Legged Robot

Developing a framework for the locomotion of a six-legged robot or a hex...
05/12/2022

Bang-Bang Control Of A Tail-less Morphing Wing Flight

Bats' dynamic morphing wings are known to be extremely high-dimensional,...
03/30/2020

An Untethered Brittle Star Robot for Closed-Loop Underwater Locomotion

Soft robots are capable of inherently safer and more stable interactions...
08/26/2021

Design of a Flying Humanoid Robot Based on Thrust Vector Control

Achieving short-distance flight helps improve the efficiency of humanoid...
06/12/2020

Algorithmic Design for Embodied Intelligence in Synthetic Cells

In nature, biological organisms jointly evolve both their morphology and...
08/15/2021

A Morphing Quadrotor that Can Optimize Morphology for Transportation

Multirotors can be effectively applied to various tasks, such as transpo...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.