Handling parameters for rotational moment generation with four-wing flapping

The aim of this study was to clarify the relationships between pitch, roll, and yaw moments during flapping and various handling parameters ((i) wingbeat amplitude, (ii) stroke plane angle, and (iii) asymmetry of the flapping duration). We investigate the effects of the combination of (i) and (ii), or the combination of (i) and (iii) for generating rotational moments. The results demonstrated that flapping amplitudes and asymmetry contributed to generating pitch and roll moments, and flapping amplitude and tilt angle affected the generation of all moments.