Abstract

Honeybee (Apis mellifera) flight and vertical locomotion were investigated using high-speed imaging and schlieren flow visualization. Free-flight recordings were analyzed to extract wingbeat frequency, projected stroke amplitude, wingtip trajectories, and membrane deformation. The wingtip trajectory exhibited a pronounced asymmetry between upstroke and downstroke, suggesting a dominant role of the downstroke in thrust production. Significant membrane deformation was observed near stroke reversal, indicating strong wing flexibility and dynamic modulation of wing shape during flapping. A novel support-based framework was introduced to characterize vertical locomotion through the support polygon formed by leg contact points and the displacement of its centroid relative to the body. This movement function quantified changes in support distribution and revealed adaptive leg-contact strategies during wall climbing. Schlieren visualization provided qualitative evidence of wingtip vortex formation, although finer wake structures remained difficult to resolve. These findings provide new experimental observations of honeybee flight kinematics and introduce a quantitative framework for analyzing vertical locomotion using support redistribution metrics.

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