Fig. 6. Kinematic parameter variation for 30 redundantly actuated trials, coded by color. Each trial begins with the same initial conditions and all trials met our definition of adequate hovering (remaining within a 4096 cm³ volume for the duration of the trial). Actual performance greatly exceeded this definition of adequate; the mean distance from the center of the volume to the moth was 2.6 cm. The Y-axes are identical to those in Fig. 5.