Abstract
This paper presents controller design for stabilizing lift force of a bird-like flapping robot. In our previous papers, in order to develop a bird-like flapping robot which can autonomously fly, we analyzed aerodynamic force for flapping movements, and developed a mechanism which can change the center of gravity of the robot to achieve bird-like circular motion.
In this paper, we construct mathematical model for flapping motion of the bird-like robot based on lift force which is generated from a wing of the robot and control input which we give to a transmitter for controlling the bird-like robot. Based on the mathematical model, we design the controller for stabilizing lift force of the flapping robot.
