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In this paper, we propose the intermeshing quadrotor helicopter which has feature of the tandem rotor helicopter and the intermeshing helicopter. Kinematic and aerodynamic characteristics of this helicopter have not yet been well known because such a helicopter does not exist so far. Therefore, we aim at conducting motion analysis of the helicopter. First, equation of motion of the helicopter is derived using multi-body dynamics. Next, we construct the system which enables that the helicopter fly manually. Finally, flight experiment was carried out to collect flight data needed for parameter identification of the model.