We present a novel design of a tailless flapping wing micro air vehicle, 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 micro air vehicle 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 micro air vehicles.

中文翻译：

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Quad-thopter：四对翅膀的无尾扑翼机器人

我们提出了一种无尾扑翼微型飞行器的新颖设计，它使用四对独立驱动的扑翼来飞行和执行敏捷机动。机翼对的布置使得不同的推力产生所需的滚转和俯仰力矩，类似于四旋翼。此外，两对翼顺时针倾斜，两对翼逆时针倾斜。这允许微型飞行器产生偏航力矩。我们已经构建了设计并在室内和室外进行了多次飞行测试。这些测试表明该车辆能够灵活机动并能够应对阵风。主要优点是所提出的设计生产相对简单，但具有预期的无尾扑翼微型飞行器的能力。