The final goal of this study is to develop a flapping flying robot capable of hovering. This paper describes building and experiments of two types of flapping robot. One has two wings and the other is four wings like the character "X." We developed a robot with two wings driven by a crank mechanism. Four types of wing are attached to the robot, and its propulsion and vibration were measured. As a result, we found that the wing without bones produced the best propulsion. We also modified commercial product with four wings. We attached various types of tail and found that the speed of the robot with long tail is the least.
