Flapping flight for biomimetic robotic insects: part I-system modeling

TLDR

Robotic insects are electromechanical devices propelled by two independent flapping wings to achieve sustained autonomous flight, mimicking real insects. This paper presents mathematical modeling of flapping flight for inch‑size micro aerial vehicles, describing system dynamic models that differ from fixed or rotary‑wing MAVs. The authors develop comprehensive models of wing‑thorax dynamics, low‑Reynolds‑number aerodynamics, body dynamics, and biomimetic sensors, implemented in the Virtual Insect Flight Simulator to evaluate flight control algorithms. The integrated models are presented in the Virtual Insect Flight Simulator, yielding realistic simulations of micromechanical flying insects and insect flight.

Abstract

This paper presents the mathematical modeling of flapping flight inch-size micro aerial vehicles (MAVs), namely micromechanical flying insects (MFIs). The target robotic insects are electromechanical devices propelled by a pair of independent flapping wings to achieve sustained autonomous flight, thereby mimicking real insects. In this paper, we describe the system dynamic models which include several elements that are substantially different from those present in fixed or rotary wing MAVs. These models include the wing-thorax dynamics, the flapping flight aerodynamics at a low Reynolds number regime, the body dynamics, and the biomimetic sensory system consisting of ocelli, halteres, magnetic compass, and optical flow sensors. The mathematical models are developed based on biological principles, analytical models, and experimental data. They are presented in the Virtual Insect Flight Simulator (VIFS) and are integrated together to give a realistic simulation for MFI and insect flight. VIFS is a software tool intended for modeling flapping flight mechanisms and for testing and evaluating the performance of different flight control algorithms.