A Bio-Inspired Flapping-Wing Robot With Cambered Wings and Its Application in Autonomous Airdrop

作     者：Haifeng Huang Wei He Qiang Fu Xiuyu He Changyin Sun Haifeng Huang;Wei He;Qiang Fu;Xiuyu He;Changyin Sun

作者机构：School of Intelligence Science and TechnologyUniversity of Science and Technology BeijingBeijing 100083China Institute of Artificial IntelligenceUniversity of Science and Technology BeijingBeijing 100083China IEEE School of AutomationSoutheast UniversityNanjing 210096 School of Artificial IntelligenceAnhui UniversityHefei 230601China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2022年第9卷第12期

页      面：2138-2150页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 082503[工学-航空宇航制造工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：supported in part by the National Natural Science Foundation of China(62225304,61933001,61921004,62173031) the Beijing Municipal Natural Science Foundation(JQ20026) the Beijing Top Discipline for Artificial Intelligent Science and Engineering,University of Science and Technology Beijing 。 

主　　题：Autonomous airdrop bionic design bio-inspired robot cambered wing flapping wing 

摘      要：Flapping-wing flight, as the distinctive flight method retained by natural flying creatures, contains profound aerodynamic principles and brings great inspirations and encouragements to drone developers. Though some ingenious flapping-wing robots have been designed during the past two decades, development and application of autonomous flapping-wing robots are less successful and still require further research. Here, we report the development of a servo-driven bird-like flapping-wing robot named USTBird-I and its application in autonomous airdrop.Inspired by birds, a camber structure and a dihedral angle adjustment mechanism are introduced into the airfoil design and motion control of the wings, respectively. Computational fluid dynamics simulations and actual flight tests show that this bionic design can significantly improve the gliding performance of the robot, which is beneficial to the execution of the airdrop mission.Finally, a vision-based airdrop experiment has been successfully implemented on USTBird-I, which is the first demonstration of a bird-like flapping-wing robot conducting an outdoor airdrop mission.