Machine Learning‐Based Wind Classification by Wing Deformation in Biomimetic Flapping Robots: Biomimetic Flexible Structures Improve Wind Sensing

摘要

Flying animals such as insects and birds have strain receptors on their wings. The functions and information processing capabilities of these strain receptors, however, are largely unknown. Herein, the potential ability of wing strain sensors to detect wind direction in flapping flight is experimentally explored. Seven strain gauges are attached to the biomimetic wing shafts of flexible wings. The wings flap through an electric mechanism emulating hovering flight in a wind tunnel with gentle wind, and a convolutional neural network model for wind direction classification is developed. The results show that with only one strain gauge, accurate wind classification is achieved using segmented data of ≈1 flapping cycle. Even with segmented data of only 0.2 flapping cycles, wind classification can be achieved with all seven strain gauges. Moreover, the use of wing shafts improves the classification accuracy, especially with shorter segmented data. Additional flapping phase information does not substantially improve classification performance. These results suggest that hovering animals determine the wind direction via strain sensing, which is useful for flight control. The implementation of wing strain sensors in flapping‐wing aerial robots may improve flight control ability.