Bird-inspired robot with morphing feathered wings for multi-modal locomotion

Abstract

Birds have long fascinated scientists and engineers with their unrivaled agility and maneuverability, achieved through dynamic wing conformations. However, due to the challenges in robot modeling, design, and control, the existing robotic models often oversimplify avian wing mechanics, neglecting key morphological and functional characteristics. To bridge this gap, a novel bird-inspired robot with biomimetic morphing wings was developed. The morphing wings, equipped with natural feathers, replicate both flapping and folding motions, closely mimicking avian wing kinematics. A novel actuation mechanism was designed to decouple the flapping and folding movements, enabling multi-modal locomoiton, including flapping, coupled flapping-folding, and pure folding motions. The kinematic analysis of both the flapping and folding mechanisms were conducted using screw theory. Experimental results demonstrate the robot’s capability to execute complex wing morphing behaviors, highlighting its potential for advanced aerial locomotion. This work not only provides a functional biomimetic platform for studying avian flight but also offers new insights into the evolutionary and engineering principles of wing morphing in birds.