Synchronized actuation strategy and study of clap-and-fling phenomenon in hummingbird inspired robot

This research details the design and testing of a hummingbird-inspired robot, with a focus on synchronized wing movement for enhanced lift generation. The robot features two motors, each controlled by a Proportional–Integral (PI) system to regulate wing frequency, with a single Proportional (P) controller managing phase difference.

Synchronized wing movements were found to significantly increase lift, while mismatched movements reduced it. The researchers observed a peak in lift force near the end of the forward stroke, attributing this to the "clap-and-fling" phenomenon. A reduced-order model was developed to explain how lift varies with flapping frequency.

The study validates the importance of closed-loop synchronization in bioinspired flapping-wing robots, demonstrating the potential of precise control systems and innovative mechanisms in achieving efficient lift generation. The work was supported by Shiv Nadar Institution of Eminence for its funding and infrastructure.