Computational morphology for a soft micro air vehicle in hovering flight

Abstract : Bio-inspired by moth or humming-birds, several micro air vehicles (MAV) have recently been developed. In these systems, the motion of the lifting surface is complex and modeled by flapping motion-controlled soft wings. The synchronization of the actuated periodic flapping motion of the wings and that of passive twisting degrees of freedom (dof) allows producing hovering flight. Depending on the feature of the MAV such as stiffness, and geometric characteristic, hovering flight can be naturally stable or not. In the first case hovering is obtained via an open loop control (or a local closed loop control) while in the second case a global control strategy is required to achieve the same objectives. Thus, it is crucial to take into account the influence of the design of the MAV on the control in order to choose an appropriate morphology that can reduce the burden of control. In this paper mathematical tools and methodologies are proposed to achieve this objective and reduce the computational cost of control.
Type de document :
Communication dans un congrès
2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, Chicago, United States. pp.3404-3410, 2014, IEEE International Conference on Intelligent Robots and Systems
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https://hal-mines-nantes.archives-ouvertes.fr/hal-01206883
Contributeur : Nathalie Fontaine <>
Soumis le : mardi 29 septembre 2015 - 17:00:35
Dernière modification le : lundi 16 juillet 2018 - 10:09:56

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  • HAL Id : hal-01206883, version 1

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Christine Chevallereau, Mathieu Porez, Frédéric Boyer. Computational morphology for a soft micro air vehicle in hovering flight. 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, Chicago, United States. pp.3404-3410, 2014, IEEE International Conference on Intelligent Robots and Systems. 〈hal-01206883〉

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