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RoboBat: Dynamics and Control of a Robotic Bat Flapping Flying Testbed

Fong, Daniel and Dorothy, Michael and Chung, Soon-Jo (2011) RoboBat: Dynamics and Control of a Robotic Bat Flapping Flying Testbed. In: Infotech@Aerospace 2011. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, Art. No. 2011-1435. ISBN 978-1-60086-944-0. http://resolver.caltech.edu/CaltechAUTHORS:20161221-134632205

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Abstract

This paper investigates the control of the phase difference in between three different motions of bat flight: pitching, mapping, and lead-lag. For active control, a robotic bat test bed capable of simulating different wing motions is used to test the control of these wing motions and the phase differences using central pattern generators (CPG's). Previous work with the robotic bat is expanded upon by modifying the robotic bat test bed to allow for three dimensional motions of the entire bat, instead of only the wings. This is done by mounting the robotic bat onto a 3D pendulum. Experiments analyzing the steady state behavior of the bat's flight with varying phase differences showed a change of pitch while elevation and forward velocity remains constant. This shows promising results regarding the relation between phase differences of wing motions and longitudinal stability.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2011-1435DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2011-1435PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2011 American Institute of Aeronautics and Astronautics. This project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The authors would like to thank the following students from the University of Illinois at Urbana-Champaign: Jonathan Yong, James Holtman, Andrew Meister, and Matthew Schipp.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA95500910089
Record Number:CaltechAUTHORS:20161221-134632205
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161221-134632205
Official Citation: Daniel Fong, Michael Dorothy, and Soon-Jo Chung. "RoboBat: Dynamics and Control of a Robotic Bat Flapping Flying Testbed", Infotech@Aerospace 2011, Infotech@Aerospace Conferences http://dx.doi.org/10.2514/6.2011-1435
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73098
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:21 Dec 2016 22:24
Last Modified:04 Jan 2017 19:12

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