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 manipulate their fluidic environment which is key to their agility and flight efficiency. This paper presents the theoretical and numerical analysis of the wake-structure-based gait design inspired by bat flight for flapping robots using the notion of reduced-order models and unsteady aerodynamic model incorporating Wagner function. The objective of this paper is to introduce the notion of gait design for flapping robots by systematically searching the design space in the context of optimization. The solution found using our gait design framework was used to design and test a flapping robot.
翻译:蝙蝠等飞行动物在飞行路径下游建立喷气式喷气式喷气式喷气式喷气式飞机和形成休克结构时,在它们的流体环境中飞过。特别是,蝙蝠以动态方式改变其高度灵活和灵活的臂章,以操纵其流体环境,这是它们灵活和飞行效率的关键。本文介绍了对蝙蝠飞行所启发的以后夜结构为主的行走设计进行的理论和数字分析,这种设计使用了减序模型的概念和含有瓦格纳功能的不稳定空气动力模型。本文的目的是通过在优化背景下系统搜索设计空间,来引入击拍机器人的格特设计概念。使用我们的行走设计框架找到的解决方案被用来设计和测试弹拍机器人。