论文标题
迈向蝙蝠风格的栖息动作对结构的仿生：惯性动力的操纵
Towards biomimicry of a bat-style perching maneuver on structures: the manipulation of inertial dynamics
论文作者
论文摘要
蝙蝠的飞行特性在空中无人机设计中被忽略了。与其他动物不同，蝙蝠利用惯性动力学的操纵在栖息时表现出空中翻转。受这项独特的操纵的启发，这项工作开发并使用了一个称为\ textit {harpoon}的微型机器人，以证明可以通过以下方式通过以下方式进行颠倒登陆的准备工作：1）通过以下方式重新定向通过零角度的摩托车转弯，并通过射击可拆下的土地飞机到达表面。惯性动力学的闭环操作是基于动力学系统（身体和附属物）的符合性描述进行的，该描述已知表现出极好的几何保护特性。
The flight characteristics of bats remarkably have been overlooked in aerial drone designs. Unlike other animals, bats leverage the manipulation of inertial dynamics to exhibit aerial flip turns when they perch. Inspired by this unique maneuver, this work develops and uses a tiny robot called \textit{Harpoon} to demonstrate that the preparation for upside-down landing is possible through: 1) reorientation towards the landing surface through zero-angular-momentum turns and 2) reaching to the surface through shooting a detachable landing gear. The closed-loop manipulations of inertial dynamics takes place based on a symplectic description of the dynamical system (body and appendage), which is known to exhibit an excellent geometric conservation properties.
