Design and Experiment of a Deformable Bird-inspired UAV

Perching Mechanism

1. Aerial and aquatic biological and bioinspired flow control strategies |

Communications Engineering (nature.com)
Natural flyers and swimmers operate under various conditions. The same animal, for example, a flyer,
can repeatedly take off, hover, glide, flap, and perch in different environmental conditions, such as
during gusts and thermals or closer to the ground or the water surface. This agility and maneuverability
are possible because of the ability of these biological systems to alter the flow around their lifting and
thrusting surfaces, using what is referred to as flow control.

Selected avian and avian-scale flow control devices inspired by feathers. Selected feather systems
shown here are the coverts (a), the alula (b), and the slotted wingtips (c). a–i Coverts on the upper
surface of a heron wing where the initials PC, SLC, SMC, and SGC stand for Primary Coverts, Secondary
Lesser Coverts, Secondary Median Coverts, and Secondary Greater Coverts, respectively. The alula in
birds generates tip vortices, which delay separation and boundary layer reversal42. b-ii An alula-
inspired device applied to an engineered wing is also effective at delaying separation compared to a
wing without an alula, as indicated by Particle Image Velocimetry (PIV

Avian alula. Another feather system investigated for its role in f low control is the alula. The alula is a
collection of feathers on the hand-wing of most birds. Structurally, the alula is a skeletal bone digit
named the alular digit. It is attached to the carpome tacarpus bone on the wing. The alula consists of
2–3 feathers at the leading edge of most birds’ wings. On average, the alula size varies between one-
fifth to one-tenth of the total span of a bird’s wing Birds with high wing loading or that frequently
maneuver at high angles of attack are the birds with the most pronounced alula according to the
weight, span, and alula mea surements reported in reference13

While the aerodynamic properties of several insect species (e.g., dragonflies, damselflies, hoverflies,
butterflies, locusts, fruit flies, blowflies, and beetles) have been investigated, most studies have
focused on the corrugated wings of dragonflies since they exhibit higher aerodynamic efficiency (lift
to drag ratio) compared to those of other insects. Results from the aero dynamic force measurements
show that the corrugated wings of dragonflies generally have higher aerodynamic efficiency (lift-to
drag ratio) compared to a flat plate and streamlined airfoils100–102. For instance, a corrugated profile
based on dragonflies wing generates 32% and 5% higher lift to drag ratio compared to a flat plate and
the streamlined airfoil, respectively at α=5∘ and Re=10,000103. Studies show that the aerodynamic
enhancements are due to the increase in lift and drag reduction.
 2. Aerodynamic Characteristics of Dragonfly Wing Sections Compared with
Technical Aerofoils | Journal of Experimental Biology | The Company of
Biologists
In contrast to other four-winged insects, the fore- and hindwings of dragonflies are not coupled; they
function independently. Thanks to this double flight-power system, large dragonflies (Anisoptera) are
capable of carrying out incredible flight manoeuvres (Rüppell, 1989; Rüppell and Hilfert, 1993). Even
gliding flight, which is seldom found in Pterygota, is part of their repertoire. This energetically and
thermoregulatory important flight behaviour (e.g. May, 1995a,b) enables one to treat the wings of these
animals as aerofoils.
The aerodynamic characteristics of an aerofoil can be determined using simple steady-state analyses
by disregarding unsteady effects. The air surrounding a wing is accelerated to generate the
aerodynamic forces lift L and drag D, and the resultant force thrust T, that enable the insect to fly. The
aerodynamic performance of the wing can be quantified by the relationship between lift and drag.

3. Aerial Robot Mimics Bat in Flight - ASME

Aerial robotics engineers have long been
fascinated with how bats fly, especially the
technological challenges that exist in recreating
their high-precision flight patterns and complex
wing motions.“Whenever I see bats make sharp
turns and perform upside-down perching with such
elegant wing movements and deformations, I
become mesmerized,” says Soon-Jo Chung,
associate professor of aerospace at the California
Institute of Technology and a Jet Propulsion
Laboratory research scientist. “Bat flight is the holy
grail of aerial robotics.”That’s because it is so difficult for roboticists to copy the complex flight patterns
of a bat. Robotic birds and insects arerelatively easyto create but, with over 40 joints in their wings,
bats are a far greater engineering challenge.Undaunted, Chung and his research team: postdoctoral
associate Alireza Ramezani from University of Illinois at Urbana-Champaign (UIUC) and Seth
Hutchinson, professor of electrical and computer engineering at the UIUC, set out to reverse-engineer
this mammal’s unrivaled agility in flight. Their goal? To build a safe, energy-efficient soft-winged robot
that flies like a bat. “We also wanted to challenge the status quo of drones that predominantly use high-
speed rotor blades, which are quite noisy and dangerous,” adds Chung.The result was the creation and
successful flight of "Bat Bot," a self-contained robotic bat with flapping, soft, articulated wings that
weighs about 93 grams and has a one-foot wingspan (about the size of an Egyptian fruit bat). Driven
by a small onboard computer and a series of sensors that allow it to fly autonomously, Bat Bot can alter
its wing shape by flexing, extending, and twisting at its shoulders, elbows, wrists, and legs. The flapping
motion also conserves battery power, making Bat Bot quieter and more efficient than its fixed-wing or
quadcopter counterparts.
4. Multi-segment shapeshifter drones: The precursors to flying squid-
bots (newatlas.com)
A remarkable group of drone prototypes from a team at the University of Tokyo takes
multirotor complexity to the next level. These hypnotic flying robots are able to
change their structural shape mid-air, creating some unprecedented capabilities.

Effectively, these bots are built in segments, and each segment has its own multicopter
propulsion unit, capable of vectoring thrust in any direction thanks to multi-axis gimbal
systems. The segments are joined together, but capable of articulating in a range of different
directions, and the team has worked out how to co-ordinate all these propulsion systems in
real time, even as the structure changes shape while it flies. The concept was originally
inspired by the thought of flying dragons, and the way these mythical beasts could smoothly
undulate their bodies in the air."When I was a child, I'm from China, so I was always
dreaming of dragons," says project leader and Assistant Professor Moju Zhao. "There are
lots of bio-inspired robots, people make robot dogs, robot cats. The dragon is not a real
animal, but it's a kind of holy symbol in Asia. Imagine this robot as a flying human arm, to do
manipulation in the air. To change a lamp, or open a door like a human arm. You could also
think this robot can transform like a snake; it can explore very narrow spaces."In the video
below, you can see the state of the team's "Dragon" robot. It's a little wobbly and a little
slow, but considering the complexity involved in controlling a multirotor aircraft that's
continually changing its structural shape and orientation, it's highly impressive. The robot is
shown beginning to handle basic tasks, like pushing and pulling objects, and curling around
on itself to create a flying gripper ring capable of grabbing, compensating for, manipulating
and releasing objects up to 1 kg (2.2 lb) in weight.
 5. Aerodynamic Analysis of Bio-inspired Wing with Adaptive Aspect
Ratio
Bioinspired morphing wing is categorized as follows: telescopic span morphing configuration, sweep morphing
wing configuration, folded wing configuration, and Adaptable flexible wing [4, 5] Raj et.al developed a corrugated
rib with a spine inspired by an eel fish that can morph the camber of the wing by adaptable flexible wing. The
aerodynamic analysis suggests that the lift coefficient is increased during morphing. The ribs were 3D printed
using polyactic acid plus (PLA+) material and the rib shape is NACA 4412 airfoil [6]. Ajanic et. al developed
bio-inspired wings for drones with sweep morphing abilities that have been optimized for different flight regimes.
By sweep morphing, the wings were retracted and extended for cruise and aggressive flight conditions [7]. Cheney
et. al captured three different bird flying abilities during high-speed maneuvers and reported that it tends to bend
the wing like a saddle shape at high-speed maneuvers [8]. Hui et. al investigated the aspect ratio adapting concept
ratio and reduced drag. The morphing is enabled through a pulley mechanism and the wing tip is made up of
feathers just like birds [9]. Song et. al (2021) reviewed thoroughly the mechanism of birds’s wings and the physics
behind bird flight with both aerodynamic and structural analysis [10].

AERODYNAMIC ANALYSIS OF MORPHING WING The aerodynamic analysis is carried out for two
different morphing wing configurations i.e., retracted wing (RW) configuration and extended wing (EW)
configuration. Initially, a low Reynolds number high lift air-foil S1223 and conventional thick air--foil NACA
4412 suitable for UAVs are taken for the analysis. The Reynolds number used for the analysis is 1.4x105 and the
span length of EW and RW are 0.7m and 0.55m. The analysis is carried out for an angle of attack (AoA) range of
about -150 to 150. The simulation is done in the XFLR5 tool and the aerodynamic characteristics of the air-foil
profile such as the lift coefficient (Cl) and drag coefficient (Cd) of both air-foils are analyzed.
 6. (PDF) Bio-inspired Flapping UAV Design: A University Perspective
(researchgate.net)
The flapping flight of birds, bats, and insects has fascinated many researchers in various fields such as
biology, zoology, aerodynamics, and electronics because of their highly efficient maneuverability and
aerodynamic benefits especially in a low Reynolds number flight regime. For many centuries,
numerous efforts have been made to mimic nature’s fliers in order to make artificial flapping-wing
vehicles. It is well known that most of the early trials for “flying machines” adopted flapping
mechanism for generating thrust and/or lift; typical examples of the early design of flapping vehicles
can be seen in the sketches of da Vinci and Cayley. It seemed that the flapping vehicles were being
forgotten with the great success of fixed wing aviation.

Helicopters rotate their rigid (or moderately flexible) and high aspect ratio wing with high rotational
speed to generate enough force. Blade element theory or blade element momentum theory (much
more complicated than thin airfoil theory for fixed-wing aircrafts) are very useful to predict such
aerodynamic forces under a helicopter’s rotational motion. However, research interests in helicopter
aerodynamics have focused on a high Reynolds number regime, unsteady flow, and the suppression
of undesired wing motion.

Bio-inspired Design of the Flapping-wing Motion Mechanism Flying insects and hummingbirds
utilize an unconventional aerodynamic mechanism (advance ratio, J < 1) to get 2~3 times larger lift
coefficients than can be obtained from stationary wings [34]. This unconventional mechanism
system, it is not possible to use those honorable aerodynamic characteristics. The flapping frequency
of insects is greater than 100Hz, and they use the structural resonance of muscular-exoskeleton
vibration to make proper wing deformations and motion, known as the figure-of-eight. A
hummingbird belongs to birds, but its flying behavior is very similar to that of insects, particularly its
heart beat frequency of 1220 times/min and its muscle power of 133W/kg (c.f. human:
~100times/min, 15W/kg). Just like hummingbirds, flapping UAVs are also located between bird and
insects. The actuation mechanisms of the flapping vehicle are similar to birds, as shown in Fig. 8, but
in the sense of passive wing pitching motion, anisotropic insect wing types can be helpful to reduce
the burden of motor torque and to conserve the energy of the battery. Active wing shape control of
flapping-wing such as variable camber may enhance the aerodynamic characteristics
 7. Pigeon-Inspired Circular Formation Control for Multi-UAV System
with Limited Target Information

A pigeon-inspired circular formation control method is proposed to form the desired circular
distribution in a plane based on the intelligent pigeon behavior during hovering. To reach the goal of
prescribed radius and angular distribution, the controller is designed consisting of a circular
movement part and a formation distribution part. Therein, the circular movement part is designed to
make each UAV rotate around the speci¯ed circle at the same angular speed only using the relative
position between the UAV and the target. The formation distribution part could adjust the angular
distance between each UAV and its neighbors with the jointly connected network to reduce
communication cost. To smooth the speed variation, nonlinear PID-type method is delivered
throughout the evolution of the system. The convergence analysis of the proposed control protocol is
presented using Lyapunov theory and graph tools. The e®ectiveness of the proposed control
strategies is demonstrated through numerical simulations.

Pigeon Flock Hover Model The common population size of pigeon °ocks ranges from dozens to
hundreds. To achieve the coordination in pigeon °ock, the e±cient and robust inter-agent inter
actions are required during the widely spread movement patterns.26 On the one hand, pigeons are
attracted by the loft to hover in the vicinity with the rotational direction changing regularly and
spontaneously. On the other hand, the pigeon individuals gradually achieve the consistency of the
velocity and position through the interaction with their neighbors. The abridged general view of the
pigeon °ock hover model is shown in Fig. 2. Chen et al. have proposed a self-propelled particle model
based on an intermittent interaction mechanism in Ref. 23 to depict the pigeon °ock's hovering
behavior.

In this paper, the circular formation problem for multi-UAV system has been studied with limited
target information in a plane. The problem is decomposed into two subobjectives of circular
formation, for which all agents could converge to the expected circle with the given radius whose
center is the target, and angular dis tribution, for which each UAV needs to maintain the desired
angular distance be tween its adjacent neighbors. A pigeon-inspired circular formation control
method has been delivered to solve the circular formation problem based on intelligent pigeon
behavior during hovering. The controller is designed consisting of a circular move ment part and a
formation n distribution part.
 8. Design and Experiment of a Sloth-inspired UAV Perching Climbing
Grasping Mechanism

In order to solve the above problems, this paper proposes an adaptable UAV perching climbing grasp
ing mechanism (UPCGM) from the structure and movement of sloths. The main innovation lies in the
design of a step foot mechanism (SFM) consists of four step foot for perching, climbing, and grasping.
Each foot has two servos, one at the hip joint and one at the knee joint, and a 304 stainless steel with
curvature. We used genetic algorithm to optimize the size of SFM with the goal of stronger climbing
ability and anti-interference ability.With experiments on its performance towards different objects, it
could perch on different types of objects in outdoor environment and perform controlled movement
on climbing targets, as well as target objects grasping and carrying by integrating it with a quadcopter.

In this paper, we introduce a UAV perching climbing grasping mechanism (UPCGM). It is different from
previous design , such that a step foot mechanism (SFM) is introduced to integrate the functions of
perching, climbing, and grasping. As shown in , the bionic principle of the mechanism is inspired by
the structure and motion of the sloth. The mechanism consists of four identical stepping feet , each
including a double-jointed stepping foot mechanism for achieving deformation and an elastic toe with
good passive deformation capability . Through experiments, the system has been proved to be highly
adaptable, with good perching capacity. It can also move efficiently on perched targets, and perform
target objects grasping and carrying.

CONCLUSIONS To improve the endurance and adaptability of existing f lying perching robots, a sloth-
inspired UAV perching and crawling grasping mechanism is designed and presented in this paper. The
structural dimensions are optimized using genetic algorithms to make the mechanism light enough
and enhance the functions of perching, climbing, and grasping. Then, experiments were conducted to
analyze its adaptability and load-bearing capacity in perching, climbing, and grasp ing objects of
different shapes and sizes. By integrating it with a quadcopter, dynamic functional test experiments
were conducted on a variety of targets to verify the stability and reliability of the structure. The results
show that it has highly adaptable and highly functional to various types of objects with extremely low
power consumption on the target.Therefore, it is verified as feasible in the application. In future
research, optimized control method will used to achieve more efficient crawling. Undrive will be used
to reduce the number of actuators, thus reducing the load on the robot and improving flight
performance. The robot vision and onboard computer will be considered to realize autonomous
perchingclimbing and grasping towards typical targets
9. Towards silent and efficient flight by combining bioinspired owl
feather serrations with cicada wing geometry
As natural predators, owls fly with astonishing stealth due to the serrated feather morphology that
produces advantageous flow characteristics. Traditionally, these serrations are tailored for air foil edges
with simple two-dimensional patterns, limiting their effect on noise reduction while negotiating trade
-offs in aerodynamic performance. Conversely, the intricately structured wings of cicadas have evolved
for effective flapping, presenting a potential blueprint for alleviating these aerodynamic limitations. In
this study, we formulate a synergistic design strategy that harmonizes noise suppression with
aerodynamic efficiency by integrating the geometrical attributes of owl feathers and cicada forewings,
culminating in a three-dimensional sinusoidal serration propeller topology that facilitates both silent
and efficient flight. Experimental results show that our design yields a reduction in overall sound
pressure levels by up to 5.5dB and an increase in propulsive efficiency by over 20% compared to the
current industry benchmark. Computational fluid dynamics simulations validate the efficacy of the
bioinspired design in augmenting surface vorticity and suppressing noise generation across various f
low regimes. This topology can advance the multifunctionality of aero dynamic surfaces for the
development of quieter and more energy-saving aerial vehicles

In this work, we formulate new design strategies that can mitigate trade-offs between noise reduction
and aerodynamic performance by merging owl feather and cicada wing geometries to create a
propeller topology that features silent and efficient flights. Inspired by the morphology of owl feathers,
our design introduces a high-fidelity, three-dimensional (3D) sinusoidal serration topography that en
com passes a widespread surface adaptation rather than a localized edge variation for potential
acoustic improvement, as illustrated in Fig. 1a. Integrating this design, the cicada wings’ contour serves
as the foundational propeller planform to augment aerodynamic efficiency. To validate this synergistic
design strategy, a hybrid aero acoustic and aerodynamic measurement system is employed in our
experiments. A group of propellers consisting of several representative designs is examined and
compared to systematically discern and evaluate the individual and combined influences of the owl
feather and cicada wing characteristics on performance. this work on the 3D-SC propeller topology,
inspired by the morphological traits of cicadas and owls, has demonstrated a reduction in propeller
noise across the frequency spectrum alongside improvements in aerodynamic efficiency compared to
benchmark designs. The implementation of 3D serrations yields more substantial noise reduction
beyond that of 2D counterparts due to the extended surface textures. In addition, comparative
analyses with benchmark designs have demonstrated that incorporating a cicada wing planform
notably augments thrust and propulsive efficiency. Despite the intrinsic difference in the operating Re
characterizing the flight of owls and cicadas, the amalgamation of these two distinct morphologies
leads to a concurrent enhancement of aerodynamic efficiency and noise suppression. We would like
to highlight that such improvements are unattainable through either geometric feature in isolation.
They are uniquely a result of the synergistic integration of these morphological elements.
Furthermore, our parametric study has highlighted the sensitivity of the 3D-SC propeller’s
performance to the geometric parameters of the serrations, particularly the amplitude and
wavelength of the sinusoidal waveform. This underscores the potential for design tuning to achieve
precise noise attenuation targets. Computational fluid dynamics simulations have shed light on the
mechanisms underpinning these advancements. In particular, the 3D serrations on the propeller
blades are effective in generating coherent vortex structures, which play a crucial role in noise
suppression. At low Re, these structures help to reduce harmonic aerodynamic loading, weakening the
dipole pressure sources that are linked to tonal noises. When operating at higher Re, the enhanced
surface circulation from the 3D serrations impedes the breakdown of CVS into eddies of dissipative
scales, which in turn lowers the strength of quadrupole pressure sources associated with broadband
noises. This intricate interplay between the geometric parameters of the 3D-SC topology and their
impact on vortex dynamics and noise attenuation provides a promising avenue for the future design
of aerial vehicles that can selectively mitigate noise while maintaining or even enhancing aerodynamic
efficiency.

10. Exploring aerial perching and grasping with dual

symmetric manipulators and compliant end-effectors

Inspired by talon of a predator bird, this paper presents a quadrotor with two 2- Degree of Freedoms
(DOFs) compliant manipulators which could mimic bird perching and grasping. The symmetric
configuration of the manipulators causes minimum shift in center of gravity and a minimum
disturbance to the angular momentum of the platform during grasping and perching maneuvers. Thus,
the dynamics of the manipulator is independent to that of the platform. Moreover, a compliant end-
effector is introduced to decouple the dynamics of the unmanned aerial vehicles from the force
interaction with the environment or target objects. Therefore, aerial manipulation problem is
significantly simplified due to the minimum amount of disturbance among components. In addition,
the manipulators could function as the landing gear, which allows larger work envelope, weight saving
and less landing impact. It also has the potential to achieve a birdlike “perch and watch” to increase
the endurance of unmanned aerial vehicles in missions that involve extended endurance.

The capability of unmanned aerial vehicles (UAVs) can be expanded radically with aerial manipulators.
They have enormous potential in building infrastructure, disaster response, parcel delivery and many
other applications, due to their ability to complete difficult tasks such as aerial grasping, capturing and
assembling. However, UAVs, especially multirotor drones, suffer from very low endurance as significant
amount of energy is required to generate lift. If a multirotor could behave like a bird, which not only
grasped with its claw (aerial manipulation) but also achieved “perch and watch” maneuver where
sustained observation is required, endurance could be increased significantly. Current design of aerial
manipulators usually focuses on one of these two aspects, namely either perching or grasping. They
are either only manipulators which are usually limited by a separated landing gear, or an only perching
mechanism which could be used to perch on a specific surface type, thus losing the flexibility as a
manipulator. Given manipulation itself is a challenging task, it is more complicated when combined
with an aerial platform as well as interacting with the environment. Related work about aerial
manipulator and specific perching mechanism

Most of these manipulators come from or evolve from industrial manipulators. These manipulators
focus on the grasping task, and usually cannot be used as landing gears for perching directly. In fact,
their work envelope is typically constrained by landing gears. A manipulator which doubles as a set of
landing gear would make the quadrotor behave more like the real flying master in nature. A few issues
which typically limit the manipulator acting as landing gear are:

• The manipulators are not strong enough as landing gear. Aerial platforms can be massive, and
manipulators usually consist of lightweight structure
• The manipulators. configurations are not stable or suitable for landing gear. It is challenging to
have center of gravity (CG) of platform falling inside the support area .