Fig. 8: Flight testing of the flapping-wing robot with feathered wings.

a Structural component of the flapping-wing robot with feathered wings. b Indoor flight, the data independent of the training set is used as the indoor flight test data to obtain the corresponding network model. c Outdoor flight, using the verified network model in Fig. (b) for identification and display. d Comparison of the test and perception values in Fig. (b), number of samples n = 73, the identification error distributions of flapping frequency (blue), velocity (orange), and pitch angle (green) are shown on the right side, the box plots show the maximum, minimum, 25th percentile, 75th percentile, and median error values for each category, the black horizontal line represents the perception average error value. Source data are provided as a Source Data file. e The perception results of outdoor flight data in Fig. (c) are displayed, number of samples n = 217. Source data are provided as a Source Data file.