Abstract
Micro-Air-Vehicle and micro-flight robot using insect and bird flight mechanisms has been attracting significant attention in recent years. However, flight mechanisms of insects have not been clarified sufficiently. In order to clarify geometric properties of flapping motion on butterflies wing with free flight, bound flight and towing flight we conducted flight observation experiments by a high-speed camera, measured displacement of a butterfly wings using images captured by the camera and transformed into flapping angles and lead-lag angles from the butterfly view. The lead-lag angles are one of the important parameters for free flight, on the other hand, for bound and towing flights, the butterfly changed flapping angles more greatly than lead-lag angles trying to escape from the towing since its legs and body were bound.
