Fig. 7. (A–I) Kinematics and moments around the imaginary pitch axis of the electromechanical flapper produced at three experimental conditions. (A–C) Pictograms above each column indicate the kinematic patterns used for comparison (mean vertical force coefficient in all patterns is 1.51). (G–I) Translational angular wing motion (black), the wing's angle of attack (blue) and heaving motion (green) of a single stroke cycle for the three kinematic patterns A,J,M. Black=single wing performance; red=performance when flapping two wings; body angle =30° and distance =0.2 wing length.