Agile Maneuvering of Servo-Driven Flapping Robot: Novel Approach Using Center Flapping Angle and Offset Angle Variables

The wingbeat kinematic parameters of flapping robot demonstrate the potential of maneuver control with agile characteristics. Through the development of our servo-driven based propulsion, the complex hardware required to implement this concept can be avoided. However, studies rarely explore wingbeat parameters such as center flapping angle (CFA) and offset angle (OA) variables as mechanisms for agile maneuver control. This study aims to investigate the maneuverability of the BIFR using wingbeat kinematic parameters such as CFA and OA variables. We investigated these variables through comprehensive tests, including static, wind tunnel, indoor flight, and outdoor flight tests. The results of these tests show that both variables can perform basic maneuvers in the longitudinal and lateral directions, as well as agile aerobatic maneuvers. The outdoor flight experiment successfully demonstrated aerobatic maneuvers on this servo-driven flapping robot without tail control, including the stall front flip, combined split-S, flapping dive, and flapping backflip maneuvers. These maneuvers were achieved by employing the CFA and OA variables in coupled and decoupled states.