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Title:Optimizing the structure and movement of a robotic bat with biological kinematic synergies
Author(s):Hoff, Jonathan Edward
Advisor(s):Hutchinson, Seth A; Wissa, Aimy
Department / Program:Mechanical Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Aerial robotics
Biologically-inspired robots
Abstract:In this thesis we present methods to optimize the design and flight characteristics of a biologically-inspired bat-like robot. Recent work has designed the topological structure for the wing kinematics of this robot; here we present methods to optimize the geometry of this structure, and to compute actuator trajectories that yield successful flight behaviors. Our approach is motivated by recent studies on biological bat flight, which have shown that the salient aspects of wing motion can be accurately represented in a low-dimensional space. We use principal components analysis (PCA) to characterize the dominant modes of biological bat flight kinematics, and optimize our robotic design to mimic these. In particular, we use the first and second principal components to shape the parametric kinematics and actuator trajectories through finite state nonlinear constrained optimization. The method yields a robot mechanism that, despite having only five degrees of actuation, possesses several biologically meaningful morphing specializations. We have validated our approach in both simulation and flight experiments with our prototype robotic bat.
Issue Date:2017-04-26
Rights Information:Copyright 2017 Jonathan E. Hoff
Date Available in IDEALS:2017-08-10
Date Deposited:2017-05

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