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Fig. 7. Predicted versus measured change in roll during the four phases of
the wingbeat cycle. (A) Mid-upstroke to the start of downstroke, (B) the start
of downstroke to mid-downstroke, (C) mid-downstroke to the end of downstroke,
(D) the end of downstroke to mid-upstroke. Because the inertial predictions do
not take into account any initial roll velocity, we high-pass filtered the
measured roll angles with a cut-off frequency of 3.5 Hz prior to computing the
change in roll for comparison with the inertial predictions.
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