The paper deals with the dynamic modeling of bio-inspired robots with soft appendages as flying insect-like or swimming fish-like robots. In order to model such soft systems, we here propose to exploit the Mobile Multibody System framework introduced in [1], [2], [3]. In such a framework, the robot is considered as a tree-like structure of rigid bodies whose the joint evolution is governed by s...

The aerial manipulator is a new type of robot with active operation capability, which composed rotary-wing drone and an actuator. Although manipulation has greatly increased the scope operations, research on manipulators also faces many difficulties, such as selection platforms actuators, system modeling control, etc. This article attempts to collect team’s Achievements in field robotic arms. m...

Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation control these vehicles ubiquitous. This is not case airships, a which needs to address unique properties, i) dynamic deformation response aerodynamic forces, ii) high susceptibility wind turbulence at low airspeed, iii) variability airship designs regarding placement, direction vectoring thrus...

The flight pattern of many fly species consists of straight flight segments interspersed with rapid turns called body saccades, a strategy that is thought to minimize motion blur. We analyzed the body saccades of fruit flies (Drosophila hydei), using high-speed 3D videography to track body and wing kinematics and a dynamically scaled robot to study the production of aerodynamic forces and momen...

gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

The inherent stability of two-dimensional motion when hovering using beating wings that have a passive feathering is compared with rotary flapping motion. the determined by bending elasticity, which expressed spring at wing root. torsional damper and values were minimizing necessary power in present analysis. Unlike motion, do not pitch/roll damping. A flying robot requires quicker flight contr...

In this paper, the equation of motion of an elastic 2 DoF wing model has been derived using Lagrange's method. The aerodynamic loads on the wing were calculated via the Strip-Theory and the effect of compressibility was included. Wing deflections due to bending and twist motions were determined using the Assume-Mode method. The aeroelastic equations were solved numerically using the V-g method....

Recent studies suggest that fruit flies use subtle changes to their wing motion to actively generate forces during aerial maneuvers. In addition, it has been estimated that the passive rotational damping caused by the flapping wings of an insect is around two orders of magnitude greater than that for the body alone. At present, however, the relationships between the active regulation of wing ki...

A power estimation approach for calculating the of a flapping-wing air vehicle (FWAV) in forward flight is proposed this paper. One challenges and essential points FWAVs endurance. In order to optimize FWAVs, it necessary analyze required addition kinematic aerodynamic analyses prototype. Previously, birds was limited their average power, which assumed lift usually same as gravitational force. ...