Control Model for Robotic Samara: Dynamics about a Coordinated Helical Turn Conference Paper uri icon

abstract

  • This paper details the flight dynamics and control of a prototype mono-wing rotorcraft that mimics the passive transit of the species of samara (winged seed), Acer diabolicum Blume. The asymmetric and all-rotating platform requires the development of a novel sensing and control framework. The general rigid body dynamics are separated into rotor dynamics and particle navigation, which are derived for a coordinated helical turn flight path. The equations of motion are used to calculate the forces necessary for flight along a trajectory recorded with a visual motion capture system. The result is a framework for state estimation and control, applicable to scaled versions of the robotic samara. 2010 AACC.

name of conference

  • Proceedings of the 2010 American Control Conference

published proceedings

  • 2010 AMERICAN CONTROL CONFERENCE

author list (cited authors)

  • Ulrich, E. R., Faruque, I., Grauer, J., Pines, D. J., Humbert, J. S., & Hubbard, J.

citation count

  • 12

complete list of authors

  • Ulrich, Evan R||Faruque, Imraan||Grauer, Jared||Pines, Darryll J||Humbert, J Sean||Hubbard, James E Jr

publication date

  • June 2010