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Flying animals, such as bats, fly through their fluidic environment as theycreate air jets and form wake structures downstream of their flight path. Bats,in particular, dynamically morph their highly flexible and dexterous armwing tomanipulate their fluidic environment which is key to their agility and flightefficiency. This paper presents the theoretical and numerical analysis of thewake-structure-based gait design inspired by bat flight for flapping robotsusing the notion of reduced-order models and unsteady aerodynamic modelincorporating Wagner function. The objective of this paper is to introduce thenotion of gait design for flapping robots by systematically searching thedesign space in the context of optimization. The solution found using our gaitdesign framework was used to design and test a flapping robot.

Wake-Based Locomotion Gait Design for Aerobat