We demonstrate the first instance of a real on-line robot learning to develop feasible flying (flapping) behavior, using evolution. Here we present the experiments and results of the first use of evolutionary methods for a flying robot. With nature’s own method, evolution, we address the highly non-linear fluid dynamics of flying. The flying robot is constrained in a test bench where timing and...

In this paper, a four-bar mechanism with two flexible links is proposed to be used in a micromechanical flying insect robot wing thorax design for stroke amplification. PZT5H and PZN-PT based unimorph actuators are utilized at the input link of the four-bar. The kinematics and dynamics of the proposed wing strcuture with two parallel four-bar mechanisms are analyzed, and DC forces generated at ...

D.N. Ray Surface Robotics Lab, CSIR-CMERI, Durgapur-713209, [email protected] U.S. Patkar Surface Robotics Lab, CSIR-CMERI,Durgapur-713209, [email protected] S. Majumder Surface Robotics Lab, CSIR-CMERI,Durgapur-713209, [email protected] M. Majumder Department of Mechanical Engineering, NIT,Durgapur-713209, [email protected] 1 Decentralized Cooperation between a Terrain Aided Mobil...

In this paper, a piezoelectrically actuated four-bar mechanism with two flexible links is proposed to be used in a micromechanical flying insect robot wing thorax for stroke amplification. PZT-5H and PZN-PT based unimorph actuators are utilized at the input link of the four-bar for a compact and light weight thorax transmission mechanism. The kinematics and dynamics of the proposed wing structu...

This article outlines a new control approach for flapping-wing micro-aerial vehicles (MAVs), inspired both by biological systems and by the need for lightweight actuation and control solutions. In our approach, the aerodynamic forces required for agile motions are achieved indirectly, by modifying passive impedance properties that couple motion of the power stroke to the angle of attack (AoA) o...

Robot learning consists of a multitude of machine learning approaches, particularly reinforcement learning, inverse reinforcement learning, and regression methods, that have been adapted su ciently to domain so that they allow learning in complex robot systems such as helicopters, apping-wing ight, legged robots, anthropomorphic arms and humanoid robots. While classical arti cial intelligence-b...

Insect-sized ( $\sim$ 100 mg) aerial robots have advantages over larger because of their small size, low weight, and materials cost. Previous iterations demonstrated controlled flight but were difficult to fabricate they consisted many ...

An extensive experimental study is conducted to examine effects of different winglet-shapes and orientations on the vortex behind a wing, static surface pressure over the wing, and wing wake of a swept wing at various angles of attack. Four types of winglets, spiroid (forward and aft), blended, and winggrid are used in this investigation. Wing static surface pressure measurements are obtained f...

This article presents a novel bat-like micro air vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modul...

Autonomous lightweight flapping-wing robots show potential to become a safe and affordable solution for rapidly deploying around humans in complex environments. The absence of propellers makes such vehicles more resistant physical contact, permitting flight cluttered environments, collaborating with humans. Importantly, the provision thousands species birds that have already mastered challengin...