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No single person "invented" the helicopter. Like all complicated machines it was developed over a period of years and many people tried different things. The Germans had simple but unreliable helicopters in the 1930's and none got beyond prototype stage. There were also many Autogyros in the '30s , but they weren't really helicopters as the rotors were not powered. - In my opinion the first person to build and fly a successful helicopter was Igor Sikorsky around 1940.

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