Mechanical synchronization of wingbeats in insect and robotic systems

Asynchronous muscles are able to generate self-excited oscillations through a stretch response [1]. This phenomenon, termed delayed-stretched actuation (DSA), enables high-frequency wing oscillations and embodies several forms of mechanical intelligence, including adaptive resonance and responsive wingbeat flapping. We have developed actuation strategies to emulate DSA using DC motors, reproducing the emergent limit-cycle dynamics of asynchronous wingbeats. However, asynchronous insects require a physical structure in their exoskeleton to synchronize their wing motion .

In this talk we study the role of mechanical coupling between a pair of asynchronous wings which is inspired by the exoskeletons of insects to understand how wingbeats are coordinated and synchronized. Using a compliant linkage system we elastically couple the wings in our robot and study the stability properties of synchrony. We find that the coupled oscillator dynamics are sensitive to the elastic coupling geometry and frequency mismatch between the left-right wing pairs. Lastly, we demonstrate that elastic coupling allows for robust wingbeat synchronization in the presence of wing perturbations.