Fig. 3. The average instantaneous acceleration of the center of mass measured during WAIR (A-F) and during free flight at a similar angle (G-L). Red arrows represent the magnitude and direction of the instantaneous acceleration, calculated as the resultant vector from the A-P and D-V component accelerometers. The orientation of the acceleration vector during the late stages of downstroke (C,D and I,J) differs between WAIR and free flight. We propose the acceleration during WAIR acts to push the animal against the substrate in order for the legs to contribute a portion of the forces required for movement. The black arrows in A and G denote the cable connecting the accelerometers to the recording equipment.

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