TY - GEN
T1 - Bat Bot 2.0
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
AU - Hoff, Jonathan
AU - Jeon, Nicole
AU - Li, Patrick
AU - Kim, Joohyung
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Bat flight has been an underdeveloped area of bio-inspired robotics because of the vast complexities of biological bat flight and the over 40 degrees of freedom present in their bodies. The robotic flapping system Bat Bot (B2) has been shown to exhibit fundamental properties of biological bat flight with its articulated wings, its deformable membrane, and its controllable hindlimbs. However, the system is limited in performance by its relatively large mass for the thrust it produces. In an effort to further pursue this important area of flapping flight, we have made several important hardware improvements to the system based on biological inspiration. These include passive wrist joints to reduce negative lift in the upstroke and a novel elastic fiber membrane to mimic the anistropic nature of bat skin for performance and durability. The redesigned flapping mechanism and structure have reduced the weight by 22%, increased the flapping amplitude, lowered mechanical slackness, and improved mass distribution. These hardware improvements are functional together in free-flight tests. This new system Bat Bot 2.0 (B2.0) provides insights into the important elements of design of bat robots, and it brings the goal of complex bat flight maneuvers closer to reality.
AB - Bat flight has been an underdeveloped area of bio-inspired robotics because of the vast complexities of biological bat flight and the over 40 degrees of freedom present in their bodies. The robotic flapping system Bat Bot (B2) has been shown to exhibit fundamental properties of biological bat flight with its articulated wings, its deformable membrane, and its controllable hindlimbs. However, the system is limited in performance by its relatively large mass for the thrust it produces. In an effort to further pursue this important area of flapping flight, we have made several important hardware improvements to the system based on biological inspiration. These include passive wrist joints to reduce negative lift in the upstroke and a novel elastic fiber membrane to mimic the anistropic nature of bat skin for performance and durability. The redesigned flapping mechanism and structure have reduced the weight by 22%, increased the flapping amplitude, lowered mechanical slackness, and improved mass distribution. These hardware improvements are functional together in free-flight tests. This new system Bat Bot 2.0 (B2.0) provides insights into the important elements of design of bat robots, and it brings the goal of complex bat flight maneuvers closer to reality.
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U2 - 10.1109/IROS51168.2021.9636496
DO - 10.1109/IROS51168.2021.9636496
M3 - Conference contribution
AN - SCOPUS:85124345446
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 8424
EP - 8430
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 27 September 2021 through 1 October 2021
ER -