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From Rousettus aegyptiacus (bat) Landing to Robotic Landing: Regulation of CG-CP Distance Using a Nonlinear Closed-Loop Feedback

Syed, Usman A. and Ramezani, Alireza and Chung, Soon-Jo and Hutchinson, Seth (2017) From Rousettus aegyptiacus (bat) Landing to Robotic Landing: Regulation of CG-CP Distance Using a Nonlinear Closed-Loop Feedback. In: 2017 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 3560-3567. ISBN 978-1-5090-4633-1. http://resolver.caltech.edu/CaltechAUTHORS:20170523-114956940

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Abstract

Bats are unique in that they can achieve unrivaled agile maneuvers due to their functionally versatile wing conformations. Among these maneuvers, roosting (landing) has captured attentions because bats perform this acrobatic maneuver with a great composure. This work attempts to reconstruct bat landing maneuvers with a Micro Aerial Vehicle (MAV) called Allice. Allice is capable of adjusting the position of its Center of Gravity (CG) with respect to the Center of Pressure (CP) using a nonlinear closed-loop feedback. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through variations in CG-CP distance. To design the model-based nonlinear controller, the Newton-Euler dynamic model of the robot is considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. The performance of the proposed control architecture is validated by conducting several experiments.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2017.7989408DOIArticle
http://ieeexplore.ieee.org/document/7989408/PublisherArticle
ORCID:
AuthorORCID
Ramezani, Alireza0000-0002-3391-5288
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Additional Information:© 2017 IEEE.
Group:GALCIT
Record Number:CaltechAUTHORS:20170523-114956940
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170523-114956940
Official Citation:U. A. Syed, A. Ramezani, S. J. Chung and S. Hutchinson, "From Rousettus aegyptiacus (bat) landing to robotic landing: Regulation of CG-CP distance using a nonlinear closed-loop feedback," 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, Singapore, 2017, pp. 3560-3567. doi: 10.1109/ICRA.2017.7989408 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7989408&isnumber=7988677
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77662
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:23 May 2017 19:40
Last Modified:07 Aug 2017 17:59

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