Yaw control torque generation for a hovering robotic hummingbird

Yaw control torque generation for a hovering robotic hummingbird

This study describes the design, development, and flight tests of a novel control mechanism to generate yaw control torque of a hovering robotic hummingbird (known as Colibri). The proposed method generates yaw torque by modifying the wing kinematics while minimizing its influence on roll and pitch...

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Bibliographic Details
Main Authors: Ali Roshanbin, André Preumont
Format: Article
Language:English
Published: SAGE Publishing 2019-01-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881418823968
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spelling doaj-d501290bda194a209b7ecf3858c71f8b2020-11-25T03:17:14ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142019-01-011610.1177/1729881418823968Yaw control torque generation for a hovering robotic hummingbirdAli RoshanbinAndré PreumontThis study describes the design, development, and flight tests of a novel control mechanism to generate yaw control torque of a hovering robotic hummingbird (known as Colibri). The proposed method generates yaw torque by modifying the wing kinematics while minimizing its influence on roll and pitch torques. To achieve this, two different architectures of series and parallel mechanisms are investigated; they are mathematically analyzed to investigate their behavior with respect to cross-coupling effects. The analysis is verified by measuring the control torque characteristics. The efficacy of the proposed method is also explored by flight experiments.https://doi.org/10.1177/1729881418823968
collection DOAJ
language English
format Article
sources DOAJ
author Ali Roshanbin
André Preumont
spellingShingle Ali Roshanbin
André Preumont
Yaw control torque generation for a hovering robotic hummingbird
International Journal of Advanced Robotic Systems
author_facet Ali Roshanbin
André Preumont
author_sort Ali Roshanbin
title Yaw control torque generation for a hovering robotic hummingbird
title_short Yaw control torque generation for a hovering robotic hummingbird
title_full Yaw control torque generation for a hovering robotic hummingbird
title_fullStr Yaw control torque generation for a hovering robotic hummingbird
title_full_unstemmed Yaw control torque generation for a hovering robotic hummingbird
title_sort yaw control torque generation for a hovering robotic hummingbird
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2019-01-01
description This study describes the design, development, and flight tests of a novel control mechanism to generate yaw control torque of a hovering robotic hummingbird (known as Colibri). The proposed method generates yaw torque by modifying the wing kinematics while minimizing its influence on roll and pitch torques. To achieve this, two different architectures of series and parallel mechanisms are investigated; they are mathematically analyzed to investigate their behavior with respect to cross-coupling effects. The analysis is verified by measuring the control torque characteristics. The efficacy of the proposed method is also explored by flight experiments.
url https://doi.org/10.1177/1729881418823968
work_keys_str_mv AT aliroshanbin yawcontroltorquegenerationforahoveringrobotichummingbird
AT andrepreumont yawcontroltorquegenerationforahoveringrobotichummingbird
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