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


  • A study was conducted to characterize the forward-flight dynamics and control of a rotary-wing NAV based on one of nature's most efficient fliers, including the seed of the maple (Acer) tree or samara. The study started with the description of the vehicle and experimental setup and recorded flight tests were shown and the characteristics of the flight path were analyzed. The rigid-body dynamics were derived for a flight path consisting of a helical turn and the equations of motion were linearized about a trimmed-flight condition, from which the small perturbation equations of motion were expressed in canonical state-space form. Equation-error and output-error methods were used to compute parameter estimates from flight data. The forward flight of the rotary-wing NAV was most conveniently formulated in a non-rotating frame of reference attached to the virtual body.

published proceedings


author list (cited authors)

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

complete list of authors

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

publication date

  • January 1, 2010 11:11 AM