  This paper presents a geometric framework for analysis of dynamics of
flapping wing micro aerial vehicles (FWMAV) which achieve locomotion in the
special Euclidean group SE(3) using internal shape changes. We review the
special structure of the configuration manifold of such systems. This work
addresses to extend the work in geometric locomotion to the aerial locomotion
problem. Furthermore, there seems to be limited work in modelling of flapping
wing bodies in a geometric framework. We derive the dynamic model of the FWMAV
using Lagrangian reduction theory defined on symmetry groups. The reduction is
achieved by applying Hamilton's variation principle on a reduced Lagrangian.
The resultant dynamics is governed by the Euler-Poincare and Euler-Lagrange
equations.
