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batsim is a powerful kinematics/dynamics/aerodynamics simulator of bat flight behavior. It uses SMA-based actuation models that allow the morphing motion of the wings.
1). The simulation mathematical core is coded in C++, composed by:
Kinematics: Quaternion definition of bat robot kinematics.
Dynamics: Floating base dynamics equations of motion based on Rigid Body Dynamics (Euler-Lagrange)
Aerodynamics: Fluid dynamics of flapping flight. The basic idea of this code is to determine the optimal distribution of vorticity (or circulation) in a wake shed by a bat flapping wing. The method will provide the best vorticity distribution for a given (desired) set of flight forces. The method provides an upper bound on the efficiency of the possible flight being sought.
Actuation/sensors: Besides flapping, bats perform morphing motion of their wings, by expanding and contracting the wing membrane that improves aerody
