Servo-Driven Flapping Robot that Uses Its Tail for Self-Standing Takeoff

Abstract

In this study, a self-standing takeoff method was developed for a servo-driven flapping robot. This method does not use any additional mechanisms or external platforms to maintain the robot’s position before takeoff. In addition to its efficiency in terms of weight, this method is also relatively easy to implement. This takeoff method extends the function of the tail not only for longitudinal direction control during flight, but also as a base to support the standing posture of the flapping robot. The objective of this investigation was to determine the optimal parameters to be implemented in the self-standing takeoff algorithm. To enhance the probability of successful takeoff, an investigation was conducted into the various parameters that influence the self-takeoff process. The investigative process was initiated with a static experiment to determine the thrust generated by the flapping robot. Subsequently, the variables of the center flapping angle, timing adjustment, and initial flapping direction were examined. A series of indoor flight experiments were conducted to evaluate the self-standing takeoff performance of the flapping robot. The experiment tested two weighted robots, the first 43 g and the second 45 g (thrust/weight (T/W) ratios of 1.02 and 0.97, respectively). The results showed that the proposed takeoff method requires only a T/W ratio of 1.02 for takeoff, less than the 1.2 previously required.