Quad-wing FWMAV with thrust vector yaw steering

Flapping-wing micro aerial vehicles (FWMAVs) offer compelling advantages for navigating confined and cluttered environments due to their low weight, agility, and bioinspired locomotion. This study introduces a novel quad-wing FWMAV architecture integrating a spatial dual-crank rocker mechanism that enables active thrust-vector-based yaw steering via independently driven rear wings, eliminating reliance on drag-inducing surfaces. The platform also incorporates a lightweight digital shadow system for real-time telemetry, state visualization, and autonomous feedback control without dependence on external tracking infrastructure. Three variants were fabricated and tested: a baseline model (QF-Base), an endurance-optimized model (QF-L), and a digital shadow-enabled model (QF-DS). Experimental evaluations demonstrate superior yaw maneuverability, altitude retention during turns, and extended endurance—up to 16 min 13 s with payload—while digital shadow integration enables autonomous monitoring in GPS-denied scenarios. The results establish a new framework for energy-efficient, sensor-integrated FWMAVs, addressing key limitations in current platforms and advancing the capabilities of next-generation bioinspired aerial robotics.