抄録
We developed a small flapping robot on the basis of movements made by a butterfly with a low flapping frequency of approximately 10 Hz, a large flapping angle, and lead-lag movement. In this paper, we clarify the body pitching movement that is used to control its posture during takeoff for different lead-lag movement by experiments of manufactured flapping robots. The experimental results indicate that the body pitch angle was controlled by the lead-lag angle. Furthermore, lead-lag movement that expands wing area at middle of flapping motion accelerates upward during downstroke and then forward during upstroke.
