Stability and agility trade-offs in spring-wing systems

Flying insects are thought to achieve energy-efficient flapping flight by storing and releasing elastic energy in their muscles, tendons, and thorax. However, \"spring-wing\" flight systems consisting of elastic elements coupled to nonlinear, unsteady aerodynamic forces also present possible challenges to generating stable and responsive wing motions. The energetic efficiency from resonance in insect flight is measured by the Weis-Fogh number (N), which is the ratio of peak inertial force to aerodynamic force. In this paper, we present experiments and modeling to study how resonance efficiency (which increases with N) influences the control responsiveness and perturbation resistance of flapping wingbeats. In our first experiments, we provide a step change in the input forcing amplitude to a series-elastic spring-wing system and observe the response time of the wing amplitude increase. In our second experiments, we provide an external fluid flow directed at the flapping wing and study the ..., , , # Stability and Agility Trade-offs in Spring-Wing Systems: Paper data

[https://doi.org/10.5061/dryad.34tmpg4tw](https://doi.org/10.5061/dryad.34tmpg4tw)

## Robotic Spring-Wing Experiment Data

[Access this dataset on Dryad](10.5061/dryad.34tmpg4tw)

## Description of Data and File Structure

Data is organized into two folders corresponding to the two main experiments presented in the manuscript

* riseStep, containing the data from the responsiveness experiments
* perturbed, containing the data from the constant flow experiments

---

### Responsiveness Data (riseStep)

Data is stored in .mat files using the naming format

```
N[TestNumber]_riseStep_[RepNumber] ([Date]).mat
```

Each .mat file contains

* ampReference: a Simulink Parameter containing the target motor amplitude in degrees
* fr: the frequency (in Hz) at which the system is driven
* runtime: the total time (in seconds) that the experiment is run
* ScopeData: A struct object containing the collected experiment data.

Scop...

学界普遍认为，飞行昆虫通过在肌肉、肌腱与胸部中储存并释放弹性势能，实现高效节能的振翅飞行。然而，由弹性元件与非线性非定常气动力耦合构成的"弹翼（spring-wing）"飞行系统，在实现稳定且响应灵敏的翼动过程中仍面临诸多挑战。昆虫飞行共振的能量效率可通过维斯-福格数（Weis-Fogh number, N）表征，该数值为峰值惯性力与气动力的比值。本文通过实验与建模手段，探究共振效率（随N值增大而提升）对振翅运动的控制响应性与抗扰动能力的影响规律。在第一组实验中，我们对串联弹性弹翼系统施加输入激励幅值的阶跃变化，观测翼幅上升的响应时长。在第二组实验中，我们对振翅翼面施加定向外部流体，并研究……
# 弹翼系统的稳定性与敏捷性权衡：论文数据

[https://doi.org/10.5061/dryad.34tmpg4tw](https://doi.org/10.5061/dryad.34tmpg4tw)

## 机器人弹翼实验数据集

## 可在Dryad平台获取本数据集：10.5061/dryad.34tmpg4tw

## 数据与文件结构说明

数据集按手稿中两项核心实验分为两个文件夹：
* riseStep：包含响应性实验的相关数据
* perturbed：包含定常流扰动实验的相关数据

---

### 响应性实验数据（riseStep）

实验数据以.mat格式存储，命名规则如下：

N[测试编号]_riseStep_[重复次数] ([日期]).mat

每个.mat文件包含以下变量：
* ampReference：Simulink参数，存储以角度为单位的电机目标幅值
* fr：系统驱动频率，单位为赫兹（Hz）
* runtime：实验总时长，单位为秒（s）
* ScopeData：存储采集到的实验数据的结构体对象。

Scop...