Fig. 5. Forces generated by three different kinematic patterns that yield approximately the same mean vertical force coefficients (1.51) during wing flapping. Stroke pattern in the left, middle and right column is A, J and M, respectively (Fig. 2). (A–C) Vertical force F_v and (D–F) horizontal force F_h acting on the wing for one wing flapping (black) and while flapping a mirror wing in close distance on the other side of the robotic flapper (red). (G–I) Translational angular wing motion (black), the wing's angle of attack (blue) and heaving motion (green) of two stroke cycles for the three kinematic patterns A, J, M.