Ornithopter Hardware Prototype

KAIST Robotic Falcon with Simple Wing (KRoFalcon-S) is an ornithopter prototype developed at KAIST SSHS Lab to validate ORNISP’s forward-flight trim predictions. Measured flight speed and estimated angle of attack were compared with predictions at matching flapping and elevon settings. The aircraft also demonstrated Pixhawk-based autonomous loiter flight.

KRoFalcon-S in flight beside the stadium.

Vehicle Overview

A motor drives a crank-rocker mechanism that converts continuous rotation into wing flapping. The main wings have no folding joints, and tail elevons control the aircraft’s attitude.

SpecificationValue
Wingspan1,200 mm
Body length700 mm
Weight including battery≈620 gf
Flight computerPixhawk 4 Mini
Fabricated KRoFalcon-S prototype.
KRoFalcon-S CAD Model
KRoFalcon-S CAD model with wings, body cover and tail.

Avionics

The Pixhawk 4 Mini uses inertial and GPS measurements to estimate the aircraft’s motion. An electronic speed controller drives the flapping motor, while servo motors actuate the tail elevons.

KRoFalcon-S avionics layout showing the motor, power system, flight computer, GPS and tail servo.

Flight Demonstration

After a manual climb, KRoFalcon-S switched to autonomous loiter mode and tracked a commanded circular path using Pixhawk and PX4.

KRoFalcon-S Autonomous Loiter Flight Test
KRoFalcon-S Flight Demonstration by KAIST Team SOAR
KRoFalcon-S in flight above trees.
hhyang95.comORNISPAn integrated design environment for flapping flight.
sshs.kaist.ac.krKAIST SSHS Lab · Flapping Wing Air Vehicles