Abstract
This paper describes effects of abdominal shake of a butterfly-inspired robot on change in body pitch angles. A flapping-wing robot that has a mechanism for abdominal shake was developed. Angles of flapping and the abdominal shake for insect butterfly during general flight are 100 to 170 degrees and 20 to 35 degrees, respectively, while flapping and abdominal-shake angles of the robot are 108 degrees and 27 degrees, respectively. Therefore, these movements were properly reproduced. Furthermore, right and left flapping, and abdominal shake were synchronized. The abdominal shake of the robot with a heavier abdomen generated larger moment, and caused larger change in the body pitch angle.
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