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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.
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