A Hybrid Dynamic Model Of An Insect-Like MAV With Soft Wings

Ayman Belkhiri (1) , Mathieu Porez (2) , Frédéric Boyer (2)

1 Equipe Robotique
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Domaines: Automatique / Robotique

Ayman Belkhiri, Mathieu Porez, Frédéric Boyer. A Hybrid Dynamic Model Of An Insect-Like MAV With Soft Wings. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), Dec 2012, Guangzhou, China. pp.108-115. ⟨hal-00761287⟩