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Botha, Hermanus V., Boddhu, Sanjay K., McCurdy, Helena B., Gallagher, John C., Matson, Eric T., Kim, Yongho.  2015.  A Research Platform for Flapping Wing Micro Air Vehicle Control Study. Robot Intelligence Technology and Applications 3: Results from the 3rd International Conference on Robot Intelligence Technology and Applications. :135–150.

The split-cycle constant-period frequency modulation for flapping wing micro air vehicle control in two degrees of freedom has been proposed and its theoretical viability has been demonstrated in previous work. Further consecutive work on developing the split-cycle based physical control system has been targeted towards providing on-the-fly configurability of all the theoretically possible split-cycle wing control parameters with high fidelity on a physical Flapping Wing Micro Air Vehicle (FWMAV). Extending the physical vehicle and wing-level control modules developed previously, this paper provides the details of the FWMAV platform, that has been designed and assembled to aid other researchers interested in the design, development and analysis of high level flapping flight controllers. Additionally, besides the physical vehicle and the configurable control module, the platform provides numerous external communication access capabilities to conduct and validate various sensor fusion study for flapping flight control.