RoboFly.D—A Bio-Inspired Hover-Capable Flapping Wing Robot

Balance hovering with stability and maneuverability is acknowledged as a critical challenge for flapping wing robots, because the control system of flapping wing micro air vehicle (FWMAVs) has the characteristics of nonlinearity and strong coupling, limiting the research on FWMAVs. Inspired by the birds and insects, a novel, robust, and effective robot, named RoboFly.D, with four flapping and tail wings is proposed in this study, which realize a highly mobile and hover-capable flight. Its flapping mechanism of four wings make excellent use of the delayed-stall and clap-fling mechanisms derived from biology. The efficient flapping mechanism endows the robot with high lift, payload, and endurance. The control method of active deflection of the tail wing gives it high hovering stability. This study utilizes the fundamental principles of the Active Disturbance Rejection Controller (ADRC), which has a combination of a tracking differentiator, anonlinear combination in PD form, and an extended state observer. RoboFly.D performs better in the case of the controller with the tail wing control in rolling attitude. It has a quick and precise response in maneuvering flight, and a high sideways flight speed. RoboFly.D can conduct remote-controlled flight under outdoor conditions with a micro camera, allowing application in military reconnaissance, counter-terrorism strikes, security inspections, etc.