Quad-thopter: Tailless Flapping Wing Robot with 4 Pairs of Wings

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We present a novel design of a tailless flapping wing Micro Air Vehicle (MAV), which uses four independently driven pairs of flapping wings in order to fly and perform agile maneuvers. The wing pairs are arranged such that differential thrust generates the desired roll and pitch moments, similar to a quadrotor. Moreover, two pairs of wings are tilted clockwise and two pairs of wings anti-clockwise. This allows the MAV to generate a yaw moment. We have constructed the design and performed multiple flight tests with it, both indoors and outdoors. These tests have shown the vehicle to be capable of agile maneuvers, and able to cope with wind gusts. The main advantage is that the proposed design is relatively simple to produce, and yet has the capabilities expected of tailless flapping wing MAVs.
Original languageEnglish
Title of host publicationInternational Micro Air Vehicle Conference and Flight Competition 2017
EditorsH. de Plinval J.-M. Moschetta G. Hattenberger
Place of PublicationToulouse, France
Number of pages8
Publication statusPublished - 1 Sept 2017
Event9th international micro air vehicles: Conference and flight competition - Toulouse, France
Duration: 18 Sept 201721 Sept 2017
Conference number: 9


Conference9th international micro air vehicles
Abbreviated titleIMAV 2017
Internet address


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