论文标题
Aerobat的基于唤醒的运动步态设计
Wake-Based Locomotion Gait Design for Aerobat
论文作者
论文摘要
飞行的动物，例如蝙蝠，在它们创建空气飞机并形成飞行路径下游的唤醒结构时，飞过它们的流动环境。特别是，蝙蝠会动态地将其高度柔韧性和灵巧的扶手变形，以操纵其流体环境，这是其敏捷性和飞行效率的关键。本文介绍了基于尾流结构的步态设计的理论和数值分析，该步态设计灵感来自BAT Flight，使用还原级模型的概念和不稳定的空气动力学模型，并结合了Wagner功能。本文的目的是通过系统地在优化的背景下系统地搜索设计空间来介绍步态设计的概念。使用我们的步态设计框架发现的解决方案用于设计和测试拍打机器人。
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.
