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Toinvestigate the feasibility of ahighlyecient apping systemcapable of avianmaneuvers, suchas rapidtakeo,hover and gliding, a full scale bird-like (ornithopter) apping-wing micro aerial vehicle (MAV) shaped and patternedafter a typical pigeon (Columba livia) has been designed and constructed. Both numerical and experimental methodshave been used in the development of this vehicle. This apping-wing micro aerial vehicle utilizes both the appingand feathering motions of an avian wing by employing a novel apping-feathering mechanism, which has been synthe-sizedandconstructedsoastobestdescribetheproperlycoordinatedappingandfeatheringwingmotionsatphaseangledierence of90 ina horizontalsteadylevel ight condition.Thisdesign allows highappingandfeatheringamplitudesand is congurable for asymmetric wing motions which are desirable in high-speed apping ight and maneuvering.The preliminary results indicate its viability as a practical and an ecient apping-wing micro aerial vehicle.Key Words: Micro Aerial Vehicle, Flapping Wing, Flapping-Feathering Motion, Ornithopter

Development of Bird-like Micro Aerial Vehicle with Flapping and Feathering Wing Motions