{"id":620,"date":"2024-10-08T20:09:52","date_gmt":"2024-10-08T11:09:52","guid":{"rendered":"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/?page_id=620"},"modified":"2026-02-24T19:37:50","modified_gmt":"2026-02-24T10:37:50","slug":"hamming-bird","status":"publish","type":"page","link":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/research\/flapping-robot\/hamming-bird\/","title":{"rendered":"Hamming Bird"},"content":{"rendered":"<div data-colibri-id=\"620-c1\" class=\"style-408 style-local-620-c1 position-relative\">\n  <!---->\n  <div data-colibri-component=\"section\" data-colibri-id=\"620-c2\" id=\"initial-content\" class=\"h-section h-section-global-spacing d-flex align-items-lg-center align-items-md-center align-items-center style-409 style-local-620-c2 position-relative\">\n    <!---->\n    <!---->\n    <div class=\"h-section-grid-container h-section-boxed-container\">\n      <!---->\n      <div data-colibri-id=\"620-c3\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-655 style-local-620-c3 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-656-outer style-local-620-c4-outer\">\n            <div data-colibri-id=\"620-c4\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-656 style-local-620-c4 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"620-c5\" class=\"h-text h-text-component style-657 style-local-620-c5 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Stable hovering of humming birds is very convenient for inspection using RGBD cameras because the image does not blur.&nbsp;We try to clarify the flapping mechanism focusing on the lead-lag\/feathering motion, spanwise-twisting, stroke\n                      plane, and tip trajectory and apply to an observation robot replacing multi-copters.<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"620-c6\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-410 style-local-620-c6 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-411-outer style-local-620-c7-outer\">\n            <div data-colibri-id=\"620-c7\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-411 style-local-620-c7 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"620-c8\" class=\"d-block h-video d-block h-video style-551 style-local-620-c8 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/BslzKb1X6jc?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-414-outer style-local-620-c10-outer\">\n            <div data-colibri-id=\"620-c10\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-414 style-local-620-c10 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"620-c11\" class=\"h-text h-text-component style-670 style-local-620-c11 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Pressure contour of hovering by FSI simulation (Takitsu model):<\/p>\n                    <p>CFD: Incompressible, overset mesh, moving boundary condition<\/p>\n                    <p>Structure: multibody model<\/p>\n                    <p>Motion: flapping freq. of ** Hz<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"620-c12\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-415 style-local-620-c12 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-416-outer style-local-620-c13-outer\">\n            <div data-colibri-id=\"620-c13\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-416 style-local-620-c13 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"620-c14\" class=\"d-block style-417 style-local-620-c14 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"405\" height=\"294\" src=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/cropped-mihara.png\" class=\"wp-image-627 style-417-image style-local-620-c14-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/cropped-mihara.png 405w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/cropped-mihara-300x218.png 300w\" sizes=\"auto, (max-width: 405px) 100vw, 405px\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-417-frameImage style-local-620-c14-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-418-outer style-local-620-c15-outer\">\n            <div data-colibri-id=\"620-c15\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-418 style-local-620-c15 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"620-c16\" class=\"h-text h-text-component style-671 style-local-620-c16 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>CAD model for one-DOF flapping\/feathering mechanism (Mihara model):<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"620-c17\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-1200 style-local-620-c17 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1201-outer style-local-620-c18-outer\">\n            <div data-colibri-id=\"620-c18\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1201 style-local-620-c18 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"620-c19\" class=\"d-block style-1202 style-local-620-c19 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <a href=\"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/research\/flapping-robot\/hamming-bird\/kubo-works\/\" h-use-smooth-scroll=\"true\" class=\"image-link\">\n                      <div class=\"h-image__frame-container\">\n                        <!---->\n                        <!---->\n                        <img loading=\"lazy\" decoding=\"async\" width=\"311\" height=\"225\" src=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/kubo.png\" class=\"wp-image-3178 style-1202-image style-local-620-c19-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/kubo.png 311w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/kubo-300x217.png 300w\" sizes=\"auto, (max-width: 311px) 100vw, 311px\" \/>\n                        <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1202-frameImage style-local-620-c19-frameImage\"><\/div>\n                      <\/div>\n                    <\/a>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1203-outer style-local-620-c20-outer\">\n            <div data-colibri-id=\"620-c20\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1203 style-local-620-c20 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"620-c21\" class=\"h-x-container style-1204 style-local-620-c21 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-x-container-inner style-dynamic-620-c21-group style-1204-spacing style-local-620-c21-spacing\"><span class=\"h-link__outer style-1205-outer style-local-620-c22-outer d-inline-flex h-element\"><a h-use-smooth-scroll=\"true\" href=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/research\/flapping-robot\/hamming-bird\/kubo-works\/\"  data-colibri-id=\"620-c22\" class=\"d-flex w-100 align-items-center h-link style-1205 style-local-620-c22 position-relative\"><!----><!----> <span>Kubo Works<\/span><\/a>\n                    <\/span>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n    <\/div>\n  <\/div>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>Stable hovering of humming birds is very convenient for inspection using RGBD cameras because the image does n [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":506,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/full-width-page.php","meta":{"footnotes":""},"class_list":["post-620","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/620","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/comments?post=620"}],"version-history":[{"count":14,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/620\/revisions"}],"predecessor-version":[{"id":4056,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/620\/revisions\/4056"}],"up":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/506"}],"wp:attachment":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/media?parent=620"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}