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A hybrid dynamic model of an insect-like MAV with soft wings

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3 Author(s)
Belkhiri, A. ; IRCCyN Lab. & Ecole des Mines de Nantes, Nantes, France ; Porez, M. ; Boyer, F.

This paper presents a hybrid dynamic model of a 3-D aerial insect-like robot. The soft-bodied insect wings modeling is based on a continuous version of the Newton-Euler dynamics where the leading edge is treated as a continuous Cosserat beam. These wings are connected to an insect's rigid thorax using a discrete recursive algorithm based on the Newton-Euler equations. Here we detail the inverse dynamic model algorithm. This version of the dynamic model solves the following two problems involved in any locomotion task: 1°) it enables the net motion of a reference body to be computed from the known data of internal motions (strain fields); 2°) it gives the internal torques required to impose these internal (strain fields) motions. The essential fluid effects have been taken into account using a simplified analytical hovering flight aerodynamic model. To facilitate the analysis of numerical results, a visualization tool is developed (see video available at [1]).

Published in:

Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on

Date of Conference:

11-14 Dec. 2012