TY - GEN
T1 - The Role of Massive Morphing Wings for Maneuvering a Bio-Inspired Bat-Like Robot
AU - Colorado, J.
AU - Rossi, C.
AU - Barrientos, A.
AU - Parra, A.
AU - Devia, C.
AU - Patino, D.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - In this paper we present an approach for analyzing the inertial effects of changing the wing shape for steering a bat-like robot. Using BaTboT, a robotic platform with massive morphing-wings, we have estimated the generation of pitching and rolling torques, which are directly related to forward and turning maneuvers. Results let us conclude that faster retraction of the wings during the upstroke, and slower extension during the downstroke increase both pitching and rolling torques in about 50% compared to those wingbeats with equal periods for retraction/extension. Also, we determined that the pitch torque generation is proportional to 0.6m{1/f}, whereas the rolling torque is promotional to 0.1m{1/f}, being m the mass of the robot and f the flapping frequency of the wings.
AB - In this paper we present an approach for analyzing the inertial effects of changing the wing shape for steering a bat-like robot. Using BaTboT, a robotic platform with massive morphing-wings, we have estimated the generation of pitching and rolling torques, which are directly related to forward and turning maneuvers. Results let us conclude that faster retraction of the wings during the upstroke, and slower extension during the downstroke increase both pitching and rolling torques in about 50% compared to those wingbeats with equal periods for retraction/extension. Also, we determined that the pitch torque generation is proportional to 0.6m{1/f}, whereas the rolling torque is promotional to 0.1m{1/f}, being m the mass of the robot and f the flapping frequency of the wings.
UR - http://www.scopus.com/inward/record.url?scp=85063128481&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460829
DO - 10.1109/ICRA.2018.8460829
M3 - Conference contribution
AN - SCOPUS:85063128481
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5534
EP - 5539
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -