A Bio-Inspired Flapping-Wing Robot With Cambered Wings and Its Application in Autonomous Airdrop  

作　　者：Haifeng Huang Wei He Qiang Fu Xiuyu He Changyin Sun 

机构地区：[1]School of Intelligence Science and Technology,University of Science and Technology Beijing,Beijing 100083,China [2]Institute of Artificial Intelligence,University of Science and Technology Beijing,Beijing 100083,China [3]IEEE [4]School of Automation,Southeast University,Nanjing 210096 [5]School of Artificial Intelligence,Anhui University,Hefei 230601,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第12期2138-2150,共13页自动化学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(62225304,61933001,61921004,62173031);the Beijing Municipal Natural Science Foundation(JQ20026);the Beijing Top Discipline for Artificial Intelligent Science and Engineering,University of Science and Technology Beijing;。

摘　　要：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 

分 类 号：V276[航空宇航科学与技术—飞行器设计] TP242[自动化与计算机技术—检测技术与自动化装置]