重心移動機構を搭載した両翼独立駆動型羽ばたき飛行ロボット

抄録

We have developed a flapping flying robot equipped with a shift mechanism of center-of-gravity (COG), whose left-and-right wings are independently driven by two micro-motors. The COG shift mechanism allows seamless changes in the flight attitude between hovering and level flights by controlling the pitch angle. In this work, the flapping mechanism was remodeled into double motor drive system to control the flipping frequencies of left and right wings independently. Motion capture measurements shows that the flight attitude becomes more stable, and the turning radius is dramatically shrunk.