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In this paper, we present a mathematical model of near-hover attitude dynamics and control in flapping flight. Then we apply this model to fruit fly (Drosophila) as an example. The attitude dynamics are derived from the complete 6-DOF equations of motion. Stability derivatives are estimated based on quasi-steady aerodynamic models of Flapping counter-torques (FCTs). Control derivatives are derived...
We investigated whether flapping flight has an inherent stability by analyzing the inertial and aerodynamic effects of flapping wings on body dynamics. Based on wing and body kinematics of free flying fruit flies during rapid maneuvers, we found a passive counter torque due to body rotation. It is identified both in simulation through quasi-steady state aerodynamic model and through experiments on...
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