Realization of a flapping flight robot like birds and development of its autonomous flight control techniques

本文建立了扑翼机器人的仿真模型，并在此基础上研制了扑翼机器人。虽然飞行距离很短，但已经进行了飞行实验。同时，考虑了对机器人扑翼模型的改进，以获得更好的飞行性能。提出了采用不同采样率的传感器实现扑翼机器人自主飞行的控制技术，并推导了设计条件。

In this research, the simulation model for flapping robot was constructed, and the flapping robot based on the simulation model was developed. Flight experiments have been examined although flight distance was short. And, the improvement of the flapping model of the robot was considered in order to accomplish better flight performance. Moreover, the control technique for achieving autonomous flight of the flapping robot with some sensors whose sampling rates are different was proposed, and the design conditions were derived.