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Energetics of flapping-wing robotic insects: towards autonomous hovering flight

M Karpelson, J P Whitney, Gu-Yeon Wei, R J Wood
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper discusses the flight energetics of flapping-wing robotic insects with the goal of selecting design parameters that enable power autonomy and maximize flight time.  ...  The subsystems of the robot are analyzed both from a broad perspective and using a detailed set of models for a piezoelectrically driven two-wing design.  ...  The authors also acknowledge support of the Wyss Institute for Biologically Inspired Engineering.  ... 
doi:10.1109/iros.2010.5650269 dblp:conf/iros/KarpelsonWWW10 fatcat:hvvun6umibaypjfqprkdbiwlui

The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception [article]

J.P. Rodríguez-Gómez, R. Tapia, J. L. Paneque, P. Grau, A. Gómez Eguíluz, J.R. Martínez-de Dios, A. Ollero
2021 arXiv   pre-print
The development of automatic perception systems and techniques for bio-inspired flapping-wing robots is severely hampered by the high technical complexity of these platforms and the installation of onboard  ...  To the best of the authors' knowledge this is the first dataset for flapping-wing robot perception.  ...  The GRIFFIN Eye-Bird Ornithopter The ornithopter used in this work is an evolution of E-Flap, a custom design developed by the GRVC Robotics Lab in the GRIFFIN project, which was modified with onboard  ... 
arXiv:2101.10371v1 fatcat:elgcltyr3febvfl442brmp2eeq

Why fly blind? Event-based visual guidance for ornithopter robot flight

Augusto, Juan Pablo, Raul, Francisco Javier, Jose Ángel, Jose Ramiro, Anibal
2021 Zenodo  
The development of perception and control meth-ods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to perform autonomously is an under-researched area.  ...  The method uses event cameras to exploit their fast response and robustness against motion blur in order to feed the ornithopter control loop at high rates (100 Hz).  ...  EXPERIMENTAL RESULTS The proposed scheme was validated in the E-Flap ornithopter robot [7] , a custom design ornithopter developed by the GRVC Robotics Lab.  ... 
doi:10.5281/zenodo.5069950 fatcat:5cjocd5un5co5niogjvv5xv3ey

A biologically inspired, flapping-wing, hybrid aerial-aquatic microrobot

Yufeng Chen, Hongqiang Wang, E. Farrell Helbling, Noah T. Jafferis, Raphael Zufferey, Aaron Ong, Kevin Ma, Nicholas Gravish, Pakpong Chirarattananon, Mirko Kovac, Robert J. Wood
2017 Science Robotics  
We report the design and operation of an insect-scale robot capable of flying, swimming, and transitioning between air and water.  ...  Increased buoyancy force from this electrochemical reaction gradually pushes the wings out of the water while the robot maintains upright stability by exploiting surface tension.  ...  Flapping-wing design has a number of favorable features over traditional fixed wing and rotorcraft vehicles.  ... 
doi:10.1126/scirobotics.aao5619 pmid:33157886 fatcat:iu6342sbsrarnlaysi54qtgpem

Towards Long-Endurance Flight of an Insect-Inspired, Tailless, Two-Winged, Flapping-Wing Flying Robot [article]

Hoang Vu Phan, Steven Aurecianus, Thi Kim Loan Au, Taesam Kang, Hoon Cheol Park
2020 arXiv   pre-print
Due to the demand for extended flight, we performed a series of experiments on the lift generation and power requirement of the robot with different stroke amplitudes and wing areas.  ...  Flight tests show that the robot employing the selected wing could hover for 8.8 minutes.  ...  Thus, a flapping-wing robot may require high power to flap the wing with these high AoAs.  ... 
arXiv:2005.06715v1 fatcat:6ch6c54475ccpnxab765hjb6ri

Flying Robots [chapter]

Stefan Leutenegger, Christoph Hürzeler, Amanda K. Stowers, Kostas Alexis, Markus W. Achtelik, David Lentink, Paul Y. Oh, Roland Siegwart
2016 Springer Handbook of Robotics  
This chapter overviews the core elements of this highly interdisciplinary field; the reader is guided through the design process of aerial robots for various applications starting with a qualitative characterization  ...  Design and modeling are closely related, forming a typically iterative process of drafting and analyzing the related properties.  ...  (A) Figure 26 . 32 : 2632 The aerodynamics of a flapping (insect) wing scale from insect to bird scale. (A) A stable LEV enables flapping wings to operate at high angles of attack without stall.  ... 
doi:10.1007/978-3-319-32552-1_26 fatcat:vkuoflll4faezhi7dipsojj7by

Development of insect thorax based flapping mechanism

Z. Khan, K. Steelman, S. Agrawal
2009 2009 IEEE International Conference on Robotics and Automation  
Design of a flapping mechanism for flapping wing micro air vehicles (FWMAV) is presented based on a mathematical model of insect thorax.  ...  The thorax model is used to understand the mechanics of the biological flapping mechanism and reveals the significance of rotational stiffness and inertia distribution in flapping wings.  ...  ACKNOWLEDGMENTS The authors gratefully acknowledge the funding of National Science Foundation (NSF) in support of this work.  ... 
doi:10.1109/robot.2009.5152822 dblp:conf/icra/KhanSA09 fatcat:tlq3cki365gufpeo32ks6yhlyi

Fruit fly scale robots can hover longer with flapping wings than with spinning wings

Elliot W. Hawkes, David Lentink
2016 Journal of the Royal Society Interface  
Micro flying robots with a similar wing design can generate similar high lift by either flapping or spinning their wings.  ...  Here, we present the first holistic analysis to calculate how long a fly-inspired micro robot can hover with flapping versus spinning wings across scales.  ...  spurred the development of micro flying robots with flapping wings [3] .  ... 
doi:10.1098/rsif.2016.0730 pmid:27707903 pmcid:PMC5095227 fatcat:vjortaxyl5hopffchtwobprvge

COLIBRI: A hovering flapping twin-wing robot

A Roshanbin, H Altartouri, M Karásek, A Preumont
2017 International Journal of Micro Air Vehicles  
This paper describes the results of a six-year project aiming at designing and constructing a flapping twin-wing robot of the size of hummingbird (Colibri in French) capable of hovering.  ...  The proposed design of wing twist modulation effectively alters the mean lift vector with respect to the center of gravity by reorganization of the airflow.  ...  Declaration of conflicting interests The author(s) declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.  ... 
doi:10.1177/1756829317695563 fatcat:jcgcwas2jrbprblmeodcgvlz7i

Flapping Mechanism Design and Aerodynamic Analysis for the Flapping Wing Micro Air Vehicle

Yi Qin, Wei Ping Zhang, Wen Yuan Cheng, Wu Liu, Hong Yi Li, Peng Cheng Chi, Kun Meng, Feng Cui, Xiao Sheng Wu
2011 Advanced Materials Research  
A spatial linkage is implemented in the flapping wing system, which is symmetry. This can prevent the flapping wing MAV from tilting toward the left or the right in the course of flight.  ...  This paper introduces a biological flapping micro air vehicle (FMAV) with four wings, instead of two wings, where wing clap-and-fling of real insects has been mimicked. The total weight is 2.236g.  ...  Flapping Mechanism Design The driving mechanism of the FMAV which we designed is a crank-and-rocker mechanism driven by a DC motor.  ... 
doi:10.4028/www.scientific.net/amr.291-294.1543 fatcat:w3wc6dteojf5dlxafqffovsivy

Analysis of Forces Involved in the Perching Maneuver of Flapping-Wing Aerial Systems and Development of Ultra-Lightweight Perching System

V. Perez-Sanchez, A.E. Gomez-Tamm, F.J. Garcia-Rubiales, B.C. Arrue, A. Ollero
2021 Zenodo  
Trying to optimize the design of aerial robotics systems, this work presents an optimized low-weight landing system for flapping-wing aerial robots.  ...  Design, analysis of the implied forces, development and experimental validation of the idea are presented in this work, demonstrating that the developed solution can overcome the ornithopter's payload  ...  This work has been developed under the framework of the project GRIFFIN (General compliant aerial Robotic manipulation system Integrating Fixed and Flapping-wings to INcrease range and safety) SI-1867/  ... 
doi:10.5281/zenodo.5005088 fatcat:udcvkvhwbnhllb4gmcekxujcky

Fixed Frequency, Variable Amplitude (FiFVA) actuation systems for Micro Aerial Vehicles

Jayant Ratti, Emanuel Jones, George Vachtsevanos
2011 2011 IEEE International Conference on Robotics and Automation  
However, much of the work done in flapping wing MAVs till date has not shown performance improvements over their Vertical Take Off and Landing (VTOL), rotary-wing counterparts.  ...  Micro Aerial Vehicles (MAVs) have gained a significant amount of research lately, with a number of universities and industry sponsors paving the way with micro flying robots to perform Intelligence, Surveillance  ...  ACKNOWLEDGMENT We thank the Air Force Office of Scientific Research for sponsoring the research and development of the project.  ... 
doi:10.1109/icra.2011.5979699 dblp:conf/icra/RattiJV11 fatcat:gohsi7epcjay5efics3vzi45oi

Bioinspired Flapping-Wing Robot With Direct-Driven Piezoelectric Actuation and Its Takeoff Demonstration

Takashi Ozaki, Kanae Hamaguchi
2018 IEEE Robotics and Automation Letters  
In this letter, we present the design and the performance of a prototype bioinspired flapping-wing micro aerial vehicle with piezoelectric direct-driven actuation.  ...  We designed and fabricated a two-wing prototype with a wingspan of 114 mm and successfully demonstrated takeoff using an external power source under a one-degree-of-freedom constraint.  ...  By rotating the motor back and forth at the resonant frequency of the system, a large reciprocal flapping motion was generated along the wing with high power efficiency.  ... 
doi:10.1109/lra.2018.2863104 dblp:journals/ral/OzakiH18 fatcat:lwa4znbhdbaflkzkvwiyi53m7e

Winged Aerial Manipulation Robot with Dual Arm and Tail

Alejandro Suarez, Pedro Grau, Guillermo Heredia, Anibal Ollero
2020 Applied Sciences  
The proposed concept design is extended to a flapping-wing aerial robot built with smart servo actuators and a similar frame structure, allowing the generation of different flapping patterns exploiting  ...  The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing.  ...  Acknowledgments: The authors want to acknowledge the support of Manuel Perez in the development of the winged aerial manipulator prototype.  ... 
doi:10.3390/app10144783 fatcat:5hfqdsbd3zg3hogbfl6ozluguy

Flight control of a large-scale flapping-wing flying robotic bird: System development and flight experiment

Wenfu Xu, Erzhen Pan, Juntao Liu, Yihong Li, Han Yuan
2021 Chinese Journal of Aeronautics  
Different from small flapping wing aerial vehicle, the mass of its wings cannot be neglected and the flapping frequency are much lower.  ...  Therefore, the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller design.  ...  Compared with other types of drones, Flapping-Wing 25 Aerial Vehicle (FWAV) has advantages of high aerodynamic 26 efficiency, low flight noise, high maneuverability and robust-ness to disturbance.  ... 
doi:10.1016/j.cja.2021.03.009 fatcat:qnll7nxquffalkext5bblbccye
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