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Describing Robotic Bat Flight with Stable Periodic Orbits

Ramezani, Alireza and Ahmed, Syed Usman and Hoff, Jonathan and Chung, Soon-Jo and Hutchinson, Seth (2017) Describing Robotic Bat Flight with Stable Periodic Orbits. In: Biomimetic and Biohybrid Systems. Lecture Notes in Computer Science. No.10384. Springer , Cham, pp. 394-405. ISBN 978-3-319-63536-1. http://resolver.caltech.edu/CaltechAUTHORS:20170523-114359601

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Abstract

From a dynamic system point of view, bat locomotion stands out among other forms of flight. During a large part of bat wingbeat cycle the moving body is not in a static equilibrium. This is in sharp contrast to what we observe in other simpler forms of flight such as insects, which stay at their static equilibrium. Encouraged by biological examinations that have revealed bats exhibit periodic and stable limit cycles, this work demonstrates that one effective approach to stabilize articulated flying robots with bat morphology is locating feasible limit cycles for these robots; then, designing controllers that retain the closed-loop system trajectories within a bounded neighborhood of the designed periodic orbits. This control design paradigm has been evaluated in practice on a recently developed bio-inspired robot called Bat Bot (B2).


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1007/978-3-319-63537-8_33DOIArticle
https://link.springer.com/chapter/10.1007/978-3-319-63537-8_33PublisherArticle
http://rdcu.be/Glw9PublisherFree ReadCube access
ORCID:
AuthorORCID
Ramezani, Alireza0000-0002-3391-5288
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© Springer International Publishing AG 2017. First Online: 16 July 2017.
Group:GALCIT
Subject Keywords:Bio-inspired robot, bat, Poincare, periodic orbit, control
Record Number:CaltechAUTHORS:20170523-114359601
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170523-114359601
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77661
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:23 May 2017 19:34
Last Modified:05 Feb 2018 23:16

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