← 研踪 PaperTrailarXiv:2610.40902 · v2
FlapSim: A Composable MuJoCo Simulation Platform and Reduced-Order Aerodynamic Model Hierarchy for Flapping-Wing Robotics
首次提交 2026-10-30 03:25
版本更新 2026-11-04 23:32
雷达观测 2026-11-05 12:13
摘要
Flapping-wing simulation need to reconcile high-frequency wingbeat aerodynamics with the slower dynamics relevant to flight control and reinforcement learning. We present FlapSim, a modular open-source MuJoCo simulation platform that combines robot descriptions, wing geometry, and composable aerodynamic models in a deterministic simulation pipeline. Across $48$ held-out scenarios spanning frequency, gimbal, wind, frequency-step, gust, and cross-robot flat-plate regimes, we compare five reduced-order configurations operating at $1\,\text{ms}$ with a $50\,μ\text{s}$ quasi-steady blade-element reference. The built-in hover cycle-averaged baseline achieves a $67.51\times$ CPU speedup but only $0.6593$ mean wrench fidelity. Combining multirate $21$-substep clock synchronization, three-dimensional linear/quadratic inflow and gust coupling, analytical blade-element geometry scaling, and phase-locked $1f\text{--}6f$ harmonics raises mean fidelity to $0.9646$ at a $65.19\times$ speedup in a five-block model. A streamlined four-block model without explicit step-transient lag states achieves $0.9662$ fidelity at a $67.98\times$ speedup. Controlled ablations show that stroke harmonics are particularly important during frequency transitions, improving held-out frequency-step fidelity by $+0.3176$. Transfer-function analysis explains this effect: fixed-window cycle averaging retains harmonic contributions when the wingbeat frequency changes, so within-cycle reconstruction also improves the filtered wrench. These results characterize the accuracy--computation tradeoff of the aerodynamic hierarchy and identify timing, inflow, geometry, and harmonic representation as central considerations for reduced-order flapping-wing simulation. The source code are available at: https://mingshanhe.github.io/FlapSim/\href{https://mingshanhe.github.io/FlapSim/}.
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v2 · 2026-11-04 23:32 · 最新观测版本
FlapSim: A Composable MuJoCo Simulation Platform and Reduced-Order Aerodynamic Model Hierarchy for Flapping-Wing Robotics
Flapping-wing simulation need to reconcile high-frequency wingbeat aerodynamics with the slower dynamics relevant to flight control and reinforcement learning. We present FlapSim, a modular open-source MuJoCo simulation platform that combines robot descriptions, wing geometry, and composable aerodynamic models in a deterministic simulation pipeline. Across $48$ held-out scenarios spanning frequency, gimbal, wind, frequency-step, gust, and cross-robot flat-plate regimes, we compare five reduced-order configurations operating at $1\,\text{ms}$ with a $50\,μ\text{s}$ quasi-steady blade-element reference. The built-in hover cycle-averaged baseline achieves a $67.51\times$ CPU speedup but only $0.6593$ mean wrench fidelity. Combining multirate $21$-substep clock synchronization, three-dimensional linear/quadratic inflow and gust coupling, analytical blade-element geometry scaling, and phase-locked $1f\text{--}6f$ harmonics raises mean fidelity to $0.9646$ at a $65.19\times$ speedup in a five-block model. A streamlined four-block model without explicit step-transient lag states achieves $0.9662$ fidelity at a $67.98\times$ speedup. Controlled ablations show that stroke harmonics are particularly important during frequency transitions, improving held-out frequency-step fidelity by $+0.3176$. Transfer-function analysis explains this effect: fixed-window cycle averaging retains harmonic contributions when the wingbeat frequency changes, so within-cycle reconstruction also improves the filtered wrench. These results characterize the accuracy--computation tradeoff of the aerodynamic hierarchy and identify timing, inflow, geometry, and harmonic representation as central considerations for reduced-order flapping-wing simulation. The source code are available at: https://mingshanhe.github.io/FlapSim/\href{https://mingshanhe.github.io/FlapSim/}.
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