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@article{ART002537600},
author={Yoonsik Shim},
title={Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2019},
volume={24},
number={12},
pages={25-33},
doi={10.9708/jksci.2019.24.12.025}

TY - JOUR
AU - Yoonsik Shim
TI - Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter
JO - Journal of The Korea Society of Computer and Information
PY - 2019
VL - 24
IS - 12
PB - The Korean Society Of Computer And Information
SP - 25
EP - 33
SN - 1598-849X
AB - This paper presents a novel evolutionary framework for optimizing a bio-inspired fully dynamic neurocontroller for the maneuverable flapping flight of a simulated bird-sized ornithopter robot which takes advantage of the morphological computation and mechansensory feedback to improve flight stability. In order to cope with the difficulty of generating robust flapping flight and its maneuver, the wing of robot is modelled as a series of sub-plates joined by passive torsional springs, which implements the simplified version of feathers attached to the forearm skeleton. The neural controller is designed to have a bilaterally symmetric structure which consists of two fully connected neural network modules receiving mirrored sensory inputs from a series of flight navigation sensors as well as feather mechanosensors to let them participate in pattern generation. The synergy of wing compliance and its sensory reflexes gives a possibility that the robot can feel and exploit aerodynamic forces on its wings to potentially contribute to the agility and stability during flight. The evolved robot exhibited target-following flight maneuver using asymmetric wing movements as well as its tail, showing robustness to external aerodynamic disturbances.
KW - Flapping flight;Evolutionary robotics;Neural network;Simulation;Compliance
DO - 10.9708/jksci.2019.24.12.025
ER -

Yoonsik Shim. (2019). Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter. Journal of The Korea Society of Computer and Information, 24(12), 25-33.

Yoonsik Shim. 2019, "Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter", Journal of The Korea Society of Computer and Information, vol.24, no.12 pp.25-33. Available from: doi:10.9708/jksci.2019.24.12.025

Yoonsik Shim "Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter" Journal of The Korea Society of Computer and Information 24.12 pp.25-33 (2019) : 25.

Yoonsik Shim. Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter. 2019; 24(12), 25-33. Available from: doi:10.9708/jksci.2019.24.12.025

Yoonsik Shim. "Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter" Journal of The Korea Society of Computer and Information 24, no.12 (2019) : 25-33.doi: 10.9708/jksci.2019.24.12.025

Yoonsik Shim. Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter. Journal of The Korea Society of Computer and Information, 24(12), 25-33. doi: 10.9708/jksci.2019.24.12.025

Yoonsik Shim. Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter. Journal of The Korea Society of Computer and Information. 2019; 24(12) 25-33. doi: 10.9708/jksci.2019.24.12.025

Yoonsik Shim. Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter. 2019; 24(12), 25-33. Available from: doi:10.9708/jksci.2019.24.12.025

Yoonsik Shim. "Evolutionary Optimization of Neurocontroller for Physically Simulated Compliant-Wing Ornithopter" Journal of The Korea Society of Computer and Information 24, no.12 (2019) : 25-33.doi: 10.9708/jksci.2019.24.12.025