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Fig. 6. Example body kinematics for an (A) voluntary and (B) escape take-off.
Lollipop diagrams show the 3D position of the fly during take-off. Lines
represent the long axis of the fly, and the open circle represents the
position of the fly's head. Positions are plotted every 2.5 ms. The center of
mass (COM; Ai, Bi) was defined as the point along the long body axis of the
fly 45% of the distance from the head to the tip of the abdomen. We defined
the starting COM location of the animal to be the origin. Horizontal position
of the COM is the Euclidian distance traveled in the horizontal
(x-y) plane (parallel to the ground) from the starting
position. Angular values (Aii, Bii) are expressed in a body-centered frame of
reference. Roll, pitch and yaw position are the cumulative rotations around
the xb, yb, and zb
body axes, respectively (see Fig.
1 for axes definitions). The fly's starting position was
determined by solving for the roll, pitch and yaw angles associated with the
rotation required to move the body-centered frame from alignment with the lab
frame to alignment with the fly's starting position.
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