High maneuverability of the falcon flying robot

This paper presents a highly maneuverable flapping-wing flying robot (FWFR) capable of achieving high speeds and large roll angles. The airfoil of the wing is designed based on lift and drag generation mechanisms, and the wing is manufactured using the expanded polypropylene injection method. Drawing inspiration from the tail fin of natural falcons, the tail is designed and an aerodynamic model is established to guide the tail control surface's variation range. During the flight test, the FWFR demonstrates outstanding maneuverability. It achieves a rapid roll angle of 120 circle $12{0}<^>{\circ }$ within 1 s. Moreover, it exhibits a rapid descent, reaching a descent rate of 15 m in 2 s. Additionally, the FWFR attains a maximum speed of 20 m/s. The FWFR successfully executes several dive and turn maneuvers, thereby showcasing its exceptional maneuverability.