Is there a speed needed to achieve flight? Is there a minimum speed needed for flight (universally)? For example, if something was going 10 miles per hour, could it achieve flight? And by flight I don’t mean throwing a paper airplane, I’m talking about the item going to that speed, then flying. 

Is there a formula for calculating the speed needed for flight?
There may be an ultimate lower bound, about where the ratio of random air motion to forward motion is near 1:1. But that is an extremely slow speed.

I've seen competitive balsa-wood gliders, weighing just a few ounces, achieve flight from a rubber band, going less than 1 mph, or a slow walking speed.

If the craft is light enough, the wings are big enough, and a little air is moving over them, lift is generated.