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In most instances, flapping wing robots have emulated the “synchronous” actuation of insects in which the wingbeat timing is generated from a time-dependent, rhythmic signal. The internal dynamics of asynchronous insect flight muscle enable high-frequency, adaptive wingbeats with minimal direct neural control. In this paper, we investigate how the delayed stretch-activation (dSA) response of asynchronous insect flight muscle can be transformed into a feedback control law for flapping wing robots that results in stable limit cycle wingbeats. We first demonstrate - in theory and simulation - the mechanism by which asynchronous wingbeats self-excite. Then, we implement the feedback law on a dynamically-scaled robophysical model as well as on an insect-scale robotic flapping wing. Experiments on large- and small-scale robots demonstrate good agreement with the theory results and highlight how dSA parameters govern wingbeat amplitude and frequency. Lastly, we demonstrate that asynchronous actuation has several advantages over synchronous actuation schemes, including the ability to rapidly adapt or halt wingbeats in response to external loads or collisions through low-level feedback control.
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Bridging two insect flight modes in evolution, physiology and robophysics
Abstract Since taking flight, insects have undergone repeated evolutionary transitions between two seemingly distinct flight modes1–3. Some insects neurally activate their muscles synchronously with each wingstroke. However, many insects have achieved wingbeat frequencies beyond the speed limit of typical neuromuscular systems by evolving flight muscles that are asynchronous with neural activation and activate in response to mechanical stretch2–8. These modes reflect the two fundamental ways of generating rhythmic movement: time-periodic forcing versus emergent oscillations from self-excitation8–10. How repeated evolutionary transitions have occurred and what governs the switching between these distinct modes remain unknown. Here we find that, despite widespread asynchronous actuation in insects across the phylogeny3,6, asynchrony probably evolved only once at the order level, with many reversions to the ancestral, synchronous mode. A synchronous moth species, evolved from an asynchronous ancestor, still preserves the stretch-activated muscle physiology. Numerical and robophysical analyses of a unified biophysical framework reveal that rather than a dichotomy, these two modes are two regimes of the same dynamics. Insects can transition between flight modes across a bridge in physiological parameter space. Finally, we integrate these two actuation modes into an insect-scale robot11–13that enables transitions between modes and unlocks a new self-excited wingstroke strategy for engineered flight. Together, this framework accounts for repeated transitions in insect flight evolution and shows how flight modes can flip with changes in physiological parameters.
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- PAR ID:
- 10534216
- Publisher / Repository:
- Nature Publishing Group
- Date Published:
- Journal Name:
- Nature
- Volume:
- 622
- Issue:
- 7984
- ISSN:
- 0028-0836
- Page Range / eLocation ID:
- 767 to 774
- Subject(s) / Keyword(s):
- Insect flight resonance muscle bio-inspired robotics robot evolution
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1038/s41586-023-06606-3
