It is widely known that the availability of lightweight structures with excellent energy absorption capacity is essential for numerous engineering applications. Inspired by many biological structures in nature, bio-inspired structures have been proved to exhibit a significant improvement over conventional structures in energy absorption capacity. Therefore, use of the biomimetic approach for designing novel lightweight structures with excellent energy absorption capacity has been increasing in engineering fields in recent years. This paper provides a comprehensive overview of recent advances in the development of bio-inspired structures for energy absorption applications. In particular, we describe the unique features and remarkable mechanical properties of biological structures such as plants and animals, which can be mimicked to design efficient energy absorbers. Next, we review and discuss the structural designs as well as the energy absorption characteristics of current bio-inspired structures with different configurations and structures, including multi-cell tubes, frusta, sandwich panels, composite plates, honeycombs, foams, building structures and lattices. These materials have been used for bio-inspired structures, including but not limited to metals, polymers, fibre-reinforced composites, concrete and glass. We also discussed the manufacturing techniques of bio-inspired structures based on conventional methods, and adaptive manufacturing (3D printing). Finally, contemporary challenges and future directions for bio-inspired structures are presented. This synopsis provides a useful platform for researchers and engineers to create novel designs of bio-inspired structures for energy absorption applications.

A review of recent research on bio-inspired structures and materials for energy absorption applications

Insects are among the most agile natural flyers. Hypotheses on their flight control cannot always be validated by experiments with animals or tethered robots. To this end, we developed a programmable and agile autonomous free-flying robot controlled through bio-inspired motion changes of its flapping wings. Despite being 55 times the size of a fruit fly, the robot can accurately mimic the rapid escape maneuvers of flies, including a correcting yaw rotation toward the escape heading. Because the robot's yaw control was turned off, we showed that these yaw rotations result from passive, translation-induced aerodynamic coupling between the yaw torque and the roll and pitch torques produced throughout the maneuver. The robot enables new methods for studying animal flight, and its flight characteristics allow for real-world flight missions.

A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns

This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles &#x0028 FWMAVs &#x0029 in the longitudinal plane. First of all, the kinematics and dynamics of the FWMAV are established, wherein the aerodynamic force and torque generated by flapping wings and the tail wing are explicitly formulated with respect to the flapping frequency of the wings and the degree of tail wing inclination. To achieve autonomous tracking, an adaptive control scheme is proposed under the hierarchical framework. Specifically, a bounded position controller with hyperbolic tangent functions is designed to produce the desired aerodynamic force, and a pitch command is extracted from the designed position controller. Next, an adaptive attitude controller is designed to track the extracted pitch command, where a radial basis function neural network is introduced to approximate the unknown aerodynamic perturbation torque. Finally, the flapping frequency of the wings and the degree of tail wing inclination are calculated from the designed position and attitude controllers, respectively. In terms of Lyapunov&#x02BC s direct method, it is shown that the tracking errors are bounded and ultimately converge to a small neighborhood around the origin. Simulations are carried out to verify the effectiveness of the proposed control scheme.

Modeling and trajectory tracking control for flapping-wing micro aerial vehicles

An insect-like tailless flapping wing micro air vehicle (FW-MAV) without feedback control eventually becomes unstable after takeoff. Flying an insect-like tailless FW-MAV is more challenging than flying a bird-like tailed FW-MAV, due to the difference in control principles. This work introduces the design and controlled flight of an insect-like tailless FW-MAV, named KUBeetle. A combination of four-bar linkage and pulley-string mechanisms was used to develop a lightweight flapping mechanism that could achieve a high flapping amplitude of approximately 190°. Clap-and-flings at dorsal and ventral stroke reversals were implemented to enhance vertical force. In the absence of a control surface at the tail, adjustment of the location of the trailing edges at the wing roots to modulate the rotational angle of the wings was used to generate control moments for the attitude control. Measurements by a 6-axis load cell showed that the control mechanism produced reasonable pitch, roll and yaw moments according to the corresponding control inputs. The control mechanism was integrated with three sub-micro servos to realize the pitch, roll and yaw controls. A simple PD feedback controller was implemented for flight stability with an onboard microcontroller and a gyroscope that sensed the pitch, roll and yaw rates. Several flight tests demonstrated that the tailless KUBeetle could successfully perform a vertical climb, then hover and loiter within a 0.3 m ground radius with small variations in pitch and roll body angles.

https://iopscience.iop.org/article/10.1088/1748-3190/aa65db/pdf

Design and stable flight of a 21 g insect-like tailless flapping wing micro air vehicle with angular rates feedback control

This study presents the design of a novel minimalist liftoff-capable flapping-wing microaerial vehicle. Two wings are each directly driven by a geared pager motor by utilizing an elastic element for energy recovery, resulting in a maximum lift-to-weight ratio of 1.4 at 10 Hz for the 2.7 g system. Separate directly driven wings allow the system to both resonate and control individual wing flapping angle, reducing necessary power consumption, as well as allowing the production of roll and pitch body torques. With a series of varied prototypes, system performance is examined with change in wing offset from center of rotation and elastic element stiffness. Prototype liftoff is demonstrated with open loop driving a tethered prototype without guide wires. A dynamic model of the system is adapted and compared with the prototype experimental results for later use in prototype optimization.

Liftoff of a Motor-Driven, Flapping-Wing Microaerial Vehicle Capable of Resonance

Insect-inspired, tailless, hover-capable flapping-wing robots: Recent progress, challenges, and future directions

At rest, beetles fold and tuck their hindwings under the elytra. For flight, the hindwings are deployed through a series of unfolding configurations that are passively driven by flapping forces. The folds lock into place as the wing fully unfolds and thereafter operates as a flat membrane to generate the aerodynamic forces. We show that in the rhinoceros beetle (Allomyrina dichotoma), these origami-like folds serve a crucial shock-absorbing function during in-flight wing collisions. When the wing collides with an object, it collapses along the folds and springs back in place within a single stroke. Collisions are thus dampened, helping the beetle to promptly recover the flight. We implemented this mechanism on a beetle-inspired wing on a flapping-wing robot, thereby enabling it to fly safely after collisions.

https://science.sciencemag.org/content/sci/370/6521/1214.full.pdf

Mechanisms of collision recovery in flying beetles and flapping-wing robots.

Stable Vertical Takeoff of an Insect-Mimicking Flapping-Wing System Without Guide Implementing Inherent Pitching Stability

This study used numerical and experimental approaches to investigate the role played by the clap-and-fling mechanism in enhancing force generation in hovering insect-like two-winged flapping-wing micro air vehicle (FW-MAV). The flapping mechanism was designed to symmetrically flap wings at a high flapping amplitude of approximately 192°. The clap-and-fling mechanisms were thereby implemented at both dorsal and ventral stroke reversals. A computational fluid dynamic (CFD) model was constructed based on three-dimensional wing kinematics to estimate the force generation, which was validated by the measured forces using a 6-axis load cell. The computed forces proved that the CFD model provided reasonable estimation with differences less than 8%, when compared with the measured forces. The measurement indicated that the clap and flings at both the stroke reversals augmented the average vertical force by 16.2% when compared with the force without the clap-and-fling effect. In the CFD simulation, the clap and flings enhanced the vertical force by 11.5% and horizontal drag force by 18.4%. The observations indicated that both the fling and the clap contributed to the augmented vertical force by 62.6% and 37.4%, respectively, and to the augmented horizontal drag force by 71.7% and 28.3%, respectively. The flow structures suggested that a strong downwash was expelled from the opening gap between the trailing edges during the fling as well as the clap at each stroke reversal. In addition to the fling phases, the influx of air into the low-pressure region between the wings from the leading edges also significantly contributed to augmentation of the vertical force. The study conducted for high Reynolds numbers also confirmed that the effect of the clap and fling was insignificant when the minimum distance between the two wings exceeded 1.2c (c = wing chord). Thus, the clap and flings were successfully implemented in the FW-MAV, and there was a significant improvement in the vertical force.

https://royalsocietypublishing.org/doi/pdf/10.1098/rsos.160746

Hoang Vu Phan

Papers

Design and stable flight of a 21 g insect-like tailless flapping wing micro air vehicle with angular rates feedback control

Insect-inspired, tailless, hover-capable flapping-wing robots: Recent progress, challenges, and future directions

Mechanisms of collision recovery in flying beetles and flapping-wing robots.

Stable Vertical Takeoff of an Insect-Mimicking Flapping-Wing System Without Guide Implementing Inherent Pitching Stability

Clap-and-fling mechanism in a hovering insect-like two-winged flapping-wing micro air vehicle.