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Search Results (4)

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Keywords = robotic hummingbird

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15 pages, 3387 KB  
Article
Hovering Flight of a Robotic Hummingbird: Dynamic Observer and Flight Tests
by Han Wang, Yousef Farid, Liang Wang, Emanuele Garone and André Preumont
Actuators 2024, 13(3), 91; https://doi.org/10.3390/act13030091 - 27 Feb 2024
Cited by 4 | Viewed by 2849
Abstract
The paper reports on flight tests at hovering of the COLIBRI robot. After a short review of the control model and the stabilization strategy, two different approaches are considered for the attitude reconstruction from the MEMS Inertial Measurement Unit (IMU): the complementary filter [...] Read more.
The paper reports on flight tests at hovering of the COLIBRI robot. After a short review of the control model and the stabilization strategy, two different approaches are considered for the attitude reconstruction from the MEMS Inertial Measurement Unit (IMU): the complementary filter and the full-state dynamic observer, implemented in a specially designed flight control board. It is shown that both strategies provide adequate stabilization at hovering in spite of the strong vibration excitation resulting from the flapping of the wings. Moreover, it is shown that the residual wandering due to noise, robot imperfection, etc., can be significantly reduced by a cascade control loop based on the axial and lateral velocities reconstructed by the full-state observer. Experiments show that this approach based on onboard measurements allows for a station keeping as good as that obtained with velocities reconstructed from an external tracking system. The paper also reports endurance tests conducted with two different robot configurations; the maximum flight time observed is 4 min 30 s. Full article
(This article belongs to the Section Aerospace Actuators)
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18 pages, 5220 KB  
Technical Note
Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation Model
by Yousef Farid, Liang Wang, Lorenzo Brancato, Han Wang, Kainan Wang and André Preumont
Actuators 2023, 12(7), 262; https://doi.org/10.3390/act12070262 - 25 Jun 2023
Cited by 6 | Viewed by 3218
Abstract
After a short overview of the COLIBRI project, this paper considers the cycle-averaged flight dynamics of a flapping-wing robot near hovering, taking advantage of the weak coupling between the roll and pitch axes. The system is naturally unstable; it needs to be stabilized [...] Read more.
After a short overview of the COLIBRI project, this paper considers the cycle-averaged flight dynamics of a flapping-wing robot near hovering, taking advantage of the weak coupling between the roll and pitch axes. The system is naturally unstable; it needs to be stabilized actively, which requires an attitude reconstruction. Due to the flapping of the wings, the system is subject to a strong periodic noise at the flapping frequency and its higher harmonics; the resulting axial forces and pitch moments are characterized from experimental data. The flapping noise propagates to the six-axis Inertial Measurement Unit (IMU) consisting of three accelerometers and three gyros. The paper is devoted to attitude reconstruction in the presence of flapping noise representative of flight conditions. Two methods are considered: (i) the complementary filter based on the hovering assumption and (ii) a full-state dynamic observer (Kalman filter). Unlike the complementary filter, the full-state dynamic observer allows the reconstruction of the axial velocity, allowing us to control the hovering without any additional sensor. A numerical simulation is conducted to assess the merit of the two methods using experimental noise data obtained with the COLIBRI robot. The paper discusses the trade-off between noise rejection and stability. Full article
(This article belongs to the Section Actuators for Robotics)
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25 pages, 11239 KB  
Article
Wing Kinematics and Unsteady Aerodynamics of a Hummingbird Pure Yawing Maneuver
by Alec Menzer, Yan Ren, Jiacheng Guo, Bret W. Tobalske and Haibo Dong
Biomimetics 2022, 7(3), 115; https://doi.org/10.3390/biomimetics7030115 - 19 Aug 2022
Cited by 17 | Viewed by 6367
Abstract
As one of few animals with the capability to execute agile yawing maneuvers, it is quite desirable to take inspiration from hummingbird flight aerodynamics. To understand the wing and body kinematics and associated aerodynamics of a hummingbird performing a free yawing maneuver, a [...] Read more.
As one of few animals with the capability to execute agile yawing maneuvers, it is quite desirable to take inspiration from hummingbird flight aerodynamics. To understand the wing and body kinematics and associated aerodynamics of a hummingbird performing a free yawing maneuver, a crucial step in mimicking the biological motion in robotic systems, we paired accurate digital reconstruction techniques with high-fidelity computational fluid dynamics (CFD) simulations. Results of the body and wing kinematics reveal that to achieve the pure yaw maneuver, the hummingbird utilizes very little body pitching, rolling, vertical, or horizontal motion. Wing angle of incidence, stroke, and twist angles are found to be higher for the inner wing (IW) than the outer wing (OW). Unsteady aerodynamic calculations reveal that drag-based asymmetric force generation during the downstroke (DS) and upstroke (US) serves to control the speed of the turn, a characteristic that allows for great maneuvering precision. A dual-loop vortex formation during each half-stroke is found to contribute to asymmetric drag production. Wake analysis revealed that asymmetric wing kinematics led to leading-edge vortex strength differences of around 59% between the IW and OW. Finally, analysis of the role of wing flexibility revealed that flexibility is essential for generating the large torque necessary for completing the turn as well as producing sufficient lift for weight support. Full article
(This article belongs to the Section Locomotion and Bioinspired Robotics)
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15 pages, 2790 KB  
Technical Note
A Note on the Electromechanical Design of a Robotic Hummingbird
by André Preumont, Han Wang, Shengzheng Kang, Kainan Wang and Ali Roshanbin
Actuators 2021, 10(3), 52; https://doi.org/10.3390/act10030052 - 7 Mar 2021
Cited by 15 | Viewed by 5728
Abstract
This paper analyzes the lift-production system in hovering of the flapping wing robot COLIBRI of the size of a hummingbird. The paper first examines the flapping wing mechanism for which a new gear transmission is proposed to reduce the friction and facilitate the [...] Read more.
This paper analyzes the lift-production system in hovering of the flapping wing robot COLIBRI of the size of a hummingbird. The paper first examines the flapping wing mechanism for which a new gear transmission is proposed to reduce the friction and facilitate the assembly. Next, a sensitivity analysis is performed on the wing size. Then, the paper discusses several options for the gearbox, various DC motors and two battery configurations (a single battery or two batteries in series) to minimize the heat generation and increase the flight time. The configuration involving two batteries has been found more effective. The flight time is predicted using Shepherd’s discharge model and it is confirmed by an experiment. The robot sustains an endurance of nearly 5 min to produce a lift force equal to the weight of the robot. Full article
(This article belongs to the Section Actuators for Robotics)
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