In this study, to achieve turning flight of a butterfly-style flapping robot, we first analyzed the flight of a butterfly and then performed flight experiments using flapping robots. Flight analysis of a butterfly revealed difference between the left and right lead-lag angles during yaw turning flight. Based on analysis result, the two cases of flight experiment were performed in terms of the rotational direction of an actuator and the symmetry of swept-forward angle. The rotational direction of the actuator affected the posture for even the flapping robot with the symmetric wings. On the other hand, the flapping robot with the asymmetric swept-forward angles of 10° changed the roll and yaw angles by 18.8° and 28.8°. These results revealed that the asymmetric swept-forward angles generated roll and yaw moments compensating the effect by the rotational direction of the actuator and turned the robot.
Science Journal 