论文标题
在Aerobat中强制执行非方面约束，这是一种栖息的拍打翼模型
Enforcing nonholonomic constraints in Aerobat, a roosting flapping wing model
论文作者
论文摘要
拍打飞行是一个具有挑战性的动态问题，也是在仿生机器人技术领域进行研究的非常有趣的主题。尤其是蝙蝠具有高度自由度和柔韧性的非常明确的臂章机制，使动物可以进行高度动态和复杂的操作，例如上下倾斜的栖息地。本文介绍了一个名为Aerobat的生物启发的蝙蝠机器人的多体动力系统的推导，该系统捕获了生物蝙蝠中存在的多个生物学上有意义的自由度。然后，这项工作试图通过操纵惯性动力学和空气动力学来表现出闭环的空中重新定位，并通过将非义学约束强制在系统上实施。提出的设计范式假定了快速指数稳定的控制器，该控制器在模型的关节空间中强制执行自动限制。应用模型和基于优化的非线性控制器来解决关节轨迹，以便实现滚动轴的所需角动量。
Flapping wing flight is a challenging dynamical problem and is also a very fascinating subject to study in the field of biomimetic robotics. A Bat, in particular, has a very articulated armwing mechanism with high degrees-of-freedom and flexibility which allows the animal to perform highly dynamic and complex maneuvers, such as upside-down perching. This paper presents the derivation of a multi-body dynamical system of a bio-inspired bat robot called Aerobat which captures multiple biologically meaningful degrees-of-freedom for flapping flight that is present in biological bats. Then, the work attempts to manifest closed-loop aerial body reorientation and preparation for landing through the manipulation of inertial dynamics and aerodynamics by enforcing nonholonomic constraints onto the system. The proposed design paradigm assumes for rapidly exponentially stable controllers that enforce holonomic constraints in the joint space of the model. A model and optimization-based nonlinear controller is applied to resolve the joint trajectories such that the desired angular momentum about the roll axis is achieved.
