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Flight dynamics and control of evasive maneuvers: the fruit fly's takeoff
Abstract We have approached the problem of reverse …
We have approached the problem of reverse engineering the flight control mechanism of the fruit fly by studying the dynamics of the responses to a visual stimulus during takeoff. Building upon a prior framework we seek to understand the strategies employed by the animal to stabilize attitude and orientation during these evasive, highly dynamical maneuvers. As a first step, we consider the dynamics from a gray-box perspective: examining lumped forces produced by the insect's legs and wings. The reconstruction of the flight initiation dynamics, based on the unconstrained motion formulation for a rigid body, allows us to assess the fly's responses to a variety of initial conditions induced by its jump. Such assessment permits refinement by using a visual tracking algorithm to extract the kinematic envelope of the wings in order to estimate lift and drag forces, and recording actual leg-joint kinematics and using them to estimate jump forces. In this paper we present the details of our approach in a comprehensive manner including the salient results.
sive manner including the salient results.  +
Authors Francisco A Zabala, Gwyneth M Card, Ebraheem I Fontaine, Michael H Dickinson, Richard M Murray  +
ID 2009g  +
Source IEEE Transactions on Biomedical Engineering, 56(9), 2009 (To appear)  +
Tag zab+09-tbme  +
Title Flight dynamics and control of evasive maneuvers: the fruit fly's takeoff +
Type Preprint  +
Categories Papers
Modification date
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15 May 2016 06:16:36  +
URL
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http://www.cds.caltech.edu/~murray/preprints/zab+09-tbme.pdf  +
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Flight dynamics and control of evasive maneuvers: the fruit fly's takeoff + Title
 

 

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