In this study, a self-standing takeoff method was developed for a servo-driven flapping robot. This method does not use any additional mechanisms or external platforms to maintain the robot’s position before takeoff. In addition to its efficiency in terms of weight, this method is also relatively easy to implement. This takeoff method extends the function of the tail not only for longitudinal direction control during flight, but also as a base to support the standing posture of the flapping robot. The objective of this investigation was to determine the optimal parameters to be implemented in the self-standing takeoff algorithm. To enhance the probability of successful takeoff, an investigation was conducted into the various parameters that influence the self-takeoff process. The investigative process was initiated with a static experiment to determine the thrust generated by the flapping robot. Subsequently, the variables of the center flapping angle, timing adjustment, and initial flapping direction were examined. A series of indoor flight experiments were conducted to evaluate the self-standing takeoff performance of the flapping robot. The experiment tested two weighted robots, the first 43 g and the second 45 g (thrust/weight (T/W) ratios of 1.02 and 0.97, respectively). The results showed that the proposed takeoff method requires only a T/W ratio of 1.02 for takeoff, less than the 1.2 previously required.

Birds are agile in locomotion and able to move quickly and easily from one place to another. When a bird is on the ground, and a threat approaches, the bird will fly away and escape. An ornithopter robot provides advantages in energy saving, maneuverability, and crash safety. Most flapping robots require an operator or assistance to take off. The goal of this study is to enable self-takeoff from the ground. The developed robot can generate thrust to its body by exceeding its own weight using a simple flapping mechanism and lightweight design. The result of the takeoff experiment showed that the ornithopter robot was able to self-takeoff from the ground without assistance.