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Our goal in this work is to expand the theory and practice of robotlocomotion by addressing critical challenges associated with the roboticbiomimicry of bat aerial locomotion. Bats wings exhibit fast wing articulationand can mobilize as many as 40 joints within a single wingbeat. Mimicking batflight can be a significant ordeal and the current design paradigms have failedas they assume only closed-loop feedback roles through sensors and conventionalactuators while ignoring the computational role carried by morphology. In thispaper, we propose a design framework called Morphing via Integrated MechanicalIntelligence and Control (MIMIC) which integrates small and low energyactuators to control the robot through a change in morphology. In this paper,using the dynamic model of Northeastern University's Aerobat, which is designedto test the effectiveness of the MIMIC framework, it will be shown thatcomputational structures and closed-loop feedback can be successfully used tomimic bats stable flight apparatus.

Orientation stabilization in a bioinspired bat-robot using integrated mechanical intelligence and control