Liu Guangze, Pan Erzhen, Sun Wei, Wang Shihua, Xu Wenfu, Yan Lei
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China.
Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center, Shenzhen, China.
Commun Eng. 2025 Aug 1;4(1):141. doi: 10.1038/s44172-025-00480-9.
In nature, raptors exhibit remarkable hunting abilities through their adept use of rapid aerial maneuvers. The key to achieving such exceptional maneuverability lies in the dynamic adjustment of the distance between the center of gravity (COG) and aerodynamic center (AC) over a wide range. Here, we report a biomimetic flapping-wing robot with agile flight capabilities. By coordinating adjustments in wing-tail distance and tail attitude, we can effectively manipulate the relative positioning of the robot's COG and AC, as well as modulate wing and tail moments relative to COG, thereby influencing climbing and descending characteristics. This enhanced agility allows us to define and achieve 13 Dynamic Flying Primitives (DFPs). Furthermore, by combining different DFPs, nine highly challenging longitudinal agile maneuvers were achieved. Finally, outdoor flight tests have validated that our biologically inspired flapping-wing robot equipped with a self-adjustment strategy for wing-tail coordination can achieve agile maneuverability.
在自然界中，猛禽通过熟练运用快速的空中机动动作展现出卓越的捕猎能力。实现这种非凡机动性的关键在于在很大范围内动态调整重心（COG）与气动中心（AC）之间的距离。在此，我们报告了一种具有敏捷飞行能力的仿生扑翼机器人。通过协调调整翼尾距离和尾翼姿态，我们能够有效地操控机器人的重心与气动中心的相对位置，以及相对于重心调节机翼和尾翼的力矩，从而影响爬升和下降特性。这种增强后的敏捷性使我们能够定义并实现13种动态飞行原语（DFP）。此外，通过组合不同的DFP，实现了9种极具挑战性的纵向敏捷机动动作。最后，户外飞行测试验证了我们配备翼尾协调自调整策略的受生物启发的扑翼机器人能够实现敏捷机动性。
