资 源 简 介
It computes the inertial model of a bat-like robot capable of modulating wing kinematics by means of Shape Memory Alloy actuation.
FURTHER DETAILS ON MODELS IN guided-paper attached in the Downloads tab.
Main Files:
--SimulationFB.m: It contains the initialization files for running the simulation.
--Batbot_SIM.mdl: Simulink file with 3D CAD. It computes open-loop inertial model.
--ControlTest.mdl: Simulink with closed-loop control of the bat robot.
The rest of the files corresponds to the dynamics toolbox of prof. Roy Featherstone:
http://royfeatherstone.org/spatial/v1/documentation.html
CAD files for the bat model, and files for kinematics computation of the bat robot (trajectory generation)
This simulator is composed by the following modules:
• Wing trajectory generator: It generates trajectory patterns (q ,q ̇ ,q ̈) for each joint of the wings at specified wingbeat frequency f. These patterns are similar to those shown in Figures 4.
