In this paper we envision how to tackle a particularly challenging problem which presents highly interdisciplinary features, ranging from biology to engineering: the dynamic description and technological realisation of flapping flight. This document explains why, in order to gain new insights into this topic, we chose to employ port-Hamiltonian theory. We discuss how the physically unifying character of the framework is able to describe flapping dynamics in all its important aspects. The technological and theoretical challenges of flapping flight are discussed by considering the interplay between different topics. First of all, the formal conceptualisation of the problem is analysed. Second, the features and capabilities of port-Hamiltonian framework as the underneath mathematical language are presented. Subsequently, the discretisation of the resulting model by means of structure-preserving strategies is addressed. Once a reliable numerical model is available, we discuss how control actions can be computed based on high-level specifications aiming at increasing the flight performances. In the last part, the technological tools needed to validate experimentally the models and to equip a robotic bird prototype with the necessary sensing and actuation devices are discussed.

在本文中，我们设想如何解决一个具有高度跨学科特征的特别具有挑战性的问题，从生物学到工程学：扑翼飞行的动态描述和技术实现。本文档解释了为什么为了获得对该主题的新见解，我们选择采用哈密尔顿港理论。我们讨论了框架的物理统一特征如何能够在其所有重要方面描述扑动动力学。通过考虑不同主题之间的相互作用，讨论了扑翼飞行的技术和理论挑战。首先，对问题的形式概念化进行分析。其次，介绍了作为底层数学语言的 port-Hamiltonian 框架的特性和功能。随后，解决了通过结构保留策略对结果模型的离散化。一旦获得可靠的数值模型，我们将讨论如何根据旨在提高飞行性能的高级规范来计算控制动作。在最后一部分中，讨论了通过实验验证模型以及为机器鸟原型配备必要的传感和驱动设备所需的技术工具。