{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/97469"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/97469","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Optimizing the structure and movement of a robotic bat with biological kinematic synergies","abstract":"In this thesis we present methods to optimize the design and flight characteristics of a biologically-inspired bat-like robot. Recent work has designed the topological structure for the wing kinematics of this robot; here we present methods to optimize the geometry of this structure, and to compute actuator trajectories that yield successful flight behaviors. Our approach is motivated by recent studies on biological bat flight, which have shown that the salient aspects of wing motion can be accurately represented in a low-dimensional space. We use principal components analysis (PCA) to characterize the dominant modes of biological bat flight kinematics, and optimize our robotic design to mimic these. In particular, we use the first and second principal components to shape the parametric kinematics and actuator trajectories through finite state nonlinear constrained optimization. The method yields a robot mechanism that, despite having only five degrees of actuation, possesses several biologically meaningful morphing specializations. We have validated our approach in both simulation and flight experiments with our prototype robotic bat.","abstract_html":"In this thesis we present methods to optimize the design and flight characteristics of a biologically-inspired bat-like robot. Recent work has designed the topological structure for the wing kinematics of this robot; here we present methods to optimize the geometry of this structure, and to compute actuator trajectories that yield successful flight behaviors. Our approach is motivated by recent studies on biological bat flight, which have shown that the salient aspects of wing motion can be accurately represented in a low-dimensional space. We use principal components analysis (PCA) to characterize the dominant modes of biological bat flight kinematics, and optimize our robotic design to mimic these. In particular, we use the first and second principal components to shape the parametric kinematics and actuator trajectories through finite state nonlinear constrained optimization. The method yields a robot mechanism that, despite having only five degrees of actuation, possesses several biologically meaningful morphing specializations. We have validated our approach in both simulation and flight experiments with our prototype robotic bat.","abstract_has_math":false,"creators":["Hoff, Jonathan Edward"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Hutchinson, Seth A.","Wissa, Aimy"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-08-10T19:16:07Z","date_published":"2017-08-10T19:16:07Z","updated_at":"2026-07-22T22:24:34Z","subjects":["Aerial robotics","Biologically-inspired robots","Kinematics","Bats"],"languages":["en"],"rights":["Copyright 2017 Jonathan E. Hoff"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/97469","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Hutchinson, Seth A.","Wissa, Aimy"]},{"key":"dc:creator","label":"Author","values":["Hoff, Jonathan Edward"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-08-10T19:16:07Z","2017-04-26","2017-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Aerial robotics","Biologically-inspired robots","Kinematics","Bats"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2017 Jonathan E. Hoff"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/97469"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["In this thesis we present methods to optimize the design and flight characteristics of a biologically-inspired bat-like robot. Recent work has designed the topological structure for the wing kinematics of this robot; here we present methods to optimize the geometry of this structure, and to compute actuator trajectories that yield successful flight behaviors. Our approach is motivated by recent studies on biological bat flight, which have shown that the salient aspects of wing motion can be accurately represented in a low-dimensional space. We use principal components analysis (PCA) to characterize the dominant modes of biological bat flight kinematics, and optimize our robotic design to mimic these. In particular, we use the first and second principal components to shape the parametric kinematics and actuator trajectories through finite state nonlinear constrained optimization. The method yields a robot mechanism that, despite having only five degrees of actuation, possesses several biologically meaningful morphing specializations. We have validated our approach in both simulation and flight experiments with our prototype robotic bat.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Jonathan Hoff, accepted the attached license on 2017-04-25 at 13:52.","The student, Jonathan Hoff, submitted this Thesis for approval on 2017-04-25 at 14:05.","This Thesis was approved for publication on 2017-04-26 at 18:11.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11037 on 2017-08-10 at 13:46:13","Made available in DSpace on 2017-08-10T19:16:07Z (GMT). No. of bitstreams: 2 HOFF-THESIS-2017.pdf: 20803041 bytes, checksum: b4f0ec31b0407aa237602e6fb924135f (MD5) LICENSE.txt: 4210 bytes, checksum: 6dcf8c24f958c624afe685a668127ca3 (MD5) Previous issue date: 2017-04-26"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Optimizing the structure and movement of a robotic bat with biological kinematic synergies"]}]}],"canonical_facts":{"dc:contributor":["Hutchinson, Seth A.","Wissa, Aimy"],"dc:creator":["Hoff, Jonathan Edward"],"dc:date":["2017-08-10T19:16:07Z","2017-04-26","2017-05"],"dc:description":["In this thesis we present methods to optimize the design and flight characteristics of a biologically-inspired bat-like robot. Recent work has designed the topological structure for the wing kinematics of this robot; here we present methods to optimize the geometry of this structure, and to compute actuator trajectories that yield successful flight behaviors. Our approach is motivated by recent studies on biological bat flight, which have shown that the salient aspects of wing motion can be accurately represented in a low-dimensional space. We use principal components analysis (PCA) to characterize the dominant modes of biological bat flight kinematics, and optimize our robotic design to mimic these. In particular, we use the first and second principal components to shape the parametric kinematics and actuator trajectories through finite state nonlinear constrained optimization. The method yields a robot mechanism that, despite having only five degrees of actuation, possesses several biologically meaningful morphing specializations. We have validated our approach in both simulation and flight experiments with our prototype robotic bat.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Jonathan Hoff, accepted the attached license on 2017-04-25 at 13:52.","The student, Jonathan Hoff, submitted this Thesis for approval on 2017-04-25 at 14:05.","This Thesis was approved for publication on 2017-04-26 at 18:11.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11037 on 2017-08-10 at 13:46:13","Made available in DSpace on 2017-08-10T19:16:07Z (GMT). No. of bitstreams: 2 HOFF-THESIS-2017.pdf: 20803041 bytes, checksum: b4f0ec31b0407aa237602e6fb924135f (MD5) LICENSE.txt: 4210 bytes, checksum: 6dcf8c24f958c624afe685a668127ca3 (MD5) Previous issue date: 2017-04-26"],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/2142/97469"],"dc:language":["en"],"dc:rights":["Copyright 2017 Jonathan E. Hoff"],"dc:subject":["Aerial robotics","Biologically-inspired robots","Kinematics","Bats"],"dc:title":["Optimizing the structure and movement of a robotic bat with biological kinematic synergies"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:24:34Z"}