This paper describes a flapping-wing robot inspired by a dragonfly. Dragonflies are able to perform sophisticated aerodynamic feats including hovering and sharp turn. These feats are performed by flapping and feathering motions of the wings. A flapping-wing robot with a passive feathering mechanism that generates asymmetrical rotation of the wing has been developed. The wing motion was analyzed using a high speed video camera, and thrust and lift forces were measured using a three-axis load cell. The results showed that a feathering angle approximate to the designed value was obtained. Time-averaged thrust and lift forces were 11.1 mN and 12.5 mN, respectively.