Design and experimental verification of a biologically inspired multi-modal wing for aerial-aquatic robotic vehicles

Abstract

This paper describes the modeling, design, experimental testing and optimization of a flapping foil for use as an aquatic propulsive device on a robot capable of aerial and aquatic modes of locomotion. Motivation for the research stems from numerous avian species which use the same flapping mechanism as a means of propulsion in both mediums. The main aim of this research is to establish the optimal kinematic parameters during aquatic operations that maximise nondimensionalised performance measures, such as propulsive efficiency. Optimization of said parameters enables the direct comparison between outstretched and retracted wing morphologies and permits scaling for future robotic vehicles. Static foils representing the wing in both an extended and retracted orientation have been manufactured and tested over a range of kinematics. The gathered results enable validation of previously developed numerical models as well as quantifying achievable performance measures. This research focuses on the mechanical propulsive efficiencies and thrust coefficients as key performance measures whilst simultaneously considering the required mechanical input torques and the associated thrust produced.

Multi-modal locomotion: from animal to application

“…Although this is true, cases where vehicles can operate with this duality of locomotion have been proposed such as with a recent call from the Defence Advanced Research Projects Agency [58], highlighting the potential usefulness of a vehicle of this type. Initial work on a vehicle that mimics the ability of the common guillemot, utilizing the same wing in both air and water can be found within [31,[59][60][61][62][63]. This work has begun to lay the foundations of understanding the natural system, which uses the same wings to propel itself in both air and water via a common musculoskeletal driving mechanism.…”

“…Initial work on a vehicle that mimics the ability of the common guillemot, utilizing the same wing in both air and water can be found within [31,[59][60][61][62][63]. This work has begun to lay the foundations of understanding the natural system, which uses the same wings to propel itself in both air and water via a common musculoskeletal driving mechanism.…”

SEAL Pack versatile, portable, and rapidly deployable SEa, air, and land vehicle

“…In our work, we show that for the task of efficient locomotion on land, water, and air, while both carrying payload and producing wireless video reconnaissance, we can use a combination of modular architecture and low cost, low weight, low volume passive body parts to achieve performance competitive with custom devices made to move in each domain. Other systems, with some in the USAR context, that have attempted multiple modes of locomotion, including many amphibious robots [12], [13], [14], [15] as well as flyers that can also have some level of land mobility [16], and some flyers that swim [17], however none that do all three. The proposed system does all three with some manual reconfiguration.…”

Kinematic Design, Analysis and Simulation of a Hybrid Robot with Terrain and Aerial Locomotion Capability

“…Combination of different terrain locomotion mechanisms constitutes hybrid systems in those days. Later researches combined different environmental locomotion capabilities like aquatic-terrain [10], aerial-terrain [5,11,12], aerialaquatic [13] etc.…”