Stanford Seminar - Designing bioinspired aerial robots with feathered morphing wings

Laura Matloff
Stanford

March 6, 2020
Birds are a source of design inspiration for aerial robots, as they can still outmaneuver current man-made fliers of similar size and weight. I study their ability to seamlessly morph their wings through large shape changes during gliding flight, and use biological measurements to drive mechanical design. I measure the wing feather and bone kinematics, investigate adjacent feather interactions, and examine feather microstructures to inform the design of PigeonBot, a biohybrid feathered robot. The feathered morphing wing design principles can also be adapted to other bird species, and even artificial feathers. This work was done in collaboration with Eric Chang, Amanda Stowers, Teresa Feo, Lindsie Jeffries, Sage Manier, and David Lentink.

View the full playlist: https://www.youtube.com/playlist?list=PLoROMvodv4rMeercb-kvGLUrOq4HR6BZD

0:00 Introduction
1:35 Birds easily outmaneuver current flying aerial robots.
2:47 Biological measurements drive robotic design
3:08 Biology: Pigeon anatomy of the ventral left wing
3:58 Defining wing wrist and feather angles
4:34 Gliding pigeons vary their planforms at different speeds.
5:26 Motion capture tracking of an animated wing
7:03 Linear transfer functions capture feather motion.
10:02 Linear functions model underactuated feather motion.
10:38 Underactuated linear elastic spring model
11:53 Quasi-static morphing to solve for spring stiffnesses
12:40 Linear elastic spring model:relative spring stiffnesses
14:39 Feather have highly hierarchical structures.
15:52 Feathers hook together via out-of-plane microstructures.
18:03 Feathers are probabilistic fasteners.
18:08 Feather surface interactions
19:26 Underactuated biohybrid wing model
22:31 Biohybrid wing wind tunnel testing
24:57 Image processing to find feather and wrist angles
26:11 Biohybrid robot in free flight
27:32 Robotic morphing wings match gliding pigeon plantorms.
28:46 Preliminary owl case study
29:29 Designing bioinspired aerial robots with feathered morphing wings

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