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- W2048996796 abstract "This paper presents a hybrid dynamic model of a 3-D aerial insect-like robot. The soft-bodied insect wings modeling is based on a continuous version of the Newton-Euler dynamics where the leading edge is treated as a continuous Cosserat beam. These wings are connected to an insect's rigid thorax using a discrete recursive algorithm based on the Newton-Euler equations. Here we detail the inverse dynamic model algorithm. This version of the dynamic model solves the following two problems involved in any locomotion task: 1°) it enables the net motion of a reference body to be computed from the known data of internal motions (strain fields); 2°) it gives the internal torques required to impose these internal (strain fields) motions. The essential fluid effects have been taken into account using a simplified analytical hovering flight aerodynamic model. To facilitate the analysis of numerical results, a visualization tool is developed (see video available at [1])." @default.
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- W2048996796 date "2012-12-01" @default.
- W2048996796 modified "2023-10-03" @default.
- W2048996796 title "A hybrid dynamic model of an insect-like MAV with soft wings" @default.
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- W2048996796 doi "https://doi.org/10.1109/robio.2012.6490952" @default.
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