Pitch torque is produced by adjusting the dihedral angle (central line of the flapping wings), which shifts the wingbeat-average thrust vectors of the two wing pairs forward or backward, with respect to the center of mass. Rolling is achieved by driving the two wing pairs at different flapping frequencies, which results in a thrust difference creating the torque around the roll axis. ![]() These are complemented with two rotary servo actuators, one adjusting the dihedral angle by changing the relative orientation of the two flapping mechanisms, and the other actuating the tips of the left and right wing-pair roots. To this end, the robot is equipped with two, independent, flapping mechanisms, one for each wing pair on the sides of the robot. To control the body orientation (attitude), the robot needs to be able to produce torques around the three orthogonal body axes. Like in quadrotors or helicopters, but also like in insects, forward/backward and sideways flight is achieved by pitching and rolling the robot’s body into the respective direction. At full throttle, the robot reaches a top speed of 7 m/s (~25 km/h). a camera system with a live video feed, additional sensors, etc.). The exceptional agility can be demonstrated by 360-degree flips around the pitch or roll axes or rapid transitions from hover to forward or sideways flight, and vice versa. The robot has a thrust-to-weight ratio of more than 1.3 and is capable of carrying an additional payload of up to 4 grams (e.g. ![]() This is thanks to design optimizations carried out with its tailed predecessor, the DelFly II, from which the flapping mechanism and wings were inherited. 3 m/s (~11 km/h) and enables a flight range of more than 1 kilometer. Its outstanding power efficiency peaks at a forward cruise speed of approx. At hover, the 29-g and 33-cm wingspan robot can fly for more than 5 minutes on a fully charged battery, while its 14 cm wings flap at a frequency of approx.
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