Extended Data Fig. 9: Synchronous to asynchronous transitions in the robobee wing.
From: Bridging two insect flight modes in evolution, physiology and robophysics
Four tests at fs = [20, 40, 67, 100] Hz are shown in which the robobee is transitioned from synchronous to asynchronous forcing. Each experiment consisted of one second of synchronous flapping (blue region) at a particular frequency, followed by a 2 s transition in which Kr was linearly increased from Kr = 1 to Kr = 0 (top plot) followed by 2 s of 100% asynchronous operation (red region). The wingbeat angle and frequency are plotted for each of the four experiments (fs is indicated on the right hand side). The left column shows the full time course of the experiments while the right column is a zoomed in region of the onset of fully asynchronous dynamics.
