The invention relates to a flapping-wing flying vehicle, the vehicle including a frame having two pivots mounted thereon to pivot about two parallel hinge axes (X), each pivot carrying a respective wing, the vehicle including a first oscillation generator for causing the pivots to oscillate in order to cause the wings to flap, said first oscillation generator comprising: two arms (6), each secured to a respective pivot (2); two cranks (9), each hinged to the end of a respective one of the arms about respective axes (X1) parallel to the hinge axes (X) of the pivots; a connecting rod (10) hinged to the ends of the two cranks about axes (X2) parallel to the hinge axes (X) of the pivots; synchronization means (4) for synchronizing the rotation of the two pivots such that the rotations of the pivots are equal and opposite; two electric motors (7), each placed to cause one of the cranks to rotate relative to the associated arm; and control means (50) for controlling and synchronizing the speeds of rotation of the motors and for controlling the phase difference between the motors.