尾 の ない 空 の ロボット フラッパー は,ハエ が 急速 な 傾き で トーク クープリング を 用い て いる こと を 示し て い ます
Matěj Karásek1, Florian T Muijres2, Christophe De Wagter3
1Micro Air Vehicle Laboratory, Control and Simulation, Delft University of Technology, Delft, Netherlands. m.karasek@tudelft.nl.
Science (New York, N.Y.)
|September 15, 2018
まとめ
研究 者 たち は,昆虫 の 飛行 演習 を 模倣 し て 自由 に 飛ぶ 敏捷 な ロボット を 開発 し まし た. このバイオインスピレーションのロボットは 脱出ターンで 滑走回転を誘導し 飛行研究を進めています
科学分野:
- ロボット
- バイオインスピレーションエンジニアリング
- エロダイナミクス
背景:
- 昆虫は飛ぶのに 優れた機敏さがありますが その制御メカニズムを研究するのは 難しいことです
- 生きている動物や 縛られたロボットを用いる既存の方法は 飛行制御の仮説を検証する上で 限界があります
研究 の 目的:
- プログラム可能な 自律飛行ロボットで 昆虫の飛行を模倣します
- スケールアップされたロボットプラットフォームを使って 昆虫の脱出作戦の背後にある 空力学的原理を調査する
主な方法:
- 機動的で自律的なロボットを 設計し作りました
- フルーツフライのような 昆虫に観察された 急速な脱出の動きを 複製するように ロボットをプログラムしました
- ロボットのアクティブ・ヨウ・コントロールを無効にして パッシブ・エアロダイナミック・エフェクトを隔離した.
主要な成果:
- ロボットは 逃亡方向への ゆらゆら回転を含む 昆虫の急速な逃亡操作を 模倣しました
- ゆらぎ回転はゆらぎトルクとロール/ピッチトルクの間の被動的な空気力学的なカップリングによるものであることが実証された.
- ロボットの性能は 果物ハエの55倍の大きさにもかかわらず 検証されました
結論:
- パッシブエアロダイナミックカップリングは,迅速な操作中に昆虫の飛行制御に重要な役割を果たします.
- 開発されたロボットは 動物の飛行ダイナミクスを研究するための貴重なツールとして機能します
- ロボットの能力は,高度な機敏さを要求する現実の飛行ミッションの可能性を開きます.
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