rcasons is that flying mechanism of birds and insect has not becn clarified su 餓 cientiy . In 1his study , the authors developed the micro flapping robot used insect and bird flight mechanisms . The mioro flapping robQt has two wings which have the proper elasticity and do not have tail plane . The micro flapping robot has smaller fiapping and lead−lag angles than that ef a butterfly . Moreover , the proper elastieity ofwing reaHzes wing elastic def( )rmation and the feathering angle variation

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... ike a buttertly . The wing elastic deformation ofmicro flapping robot realizes stable fiight for l5minutes which was the battery ' s duration . Key W ( ) rds : Micro Air Vehicle 、 「 「 日 illess aircraft , Flapping motion