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A Bio-Inspired Flapping-Wing Robot With Cambered Wings and Its Application in autonomous airdrop

IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2138-2150页

作者： Haifeng Huang Wei He Qiang Fu Xiuyu He Changyin Sun School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 100083China Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China IEEE School of Automation Southeast UniversityNanjing 210096 School of Artificial Intelligence Anhui UniversityHefei 230601China

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.

关键词： autonomous airdrop bionic design bio-inspired robot cambered wing flapping wing

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