Figure 3. Appendage movements tested to determine control effectiveness.

Light gray indicates baseline posture, dark gray indicates appendage deflection. Appendage movements were selected based on those observed to be effective in previous work (Evangelista et al., 2014b), including (A) symmetric wing protraction (e.g., wing sweep to ±45°); (B) tail dorsiflexion to ±15°; (C) tucking of one wing; (D) tail lateral flexion to 30°; and (E) asymmetric wing pronation/supination to 15° (e.g., left wing pitched down, right wing pitched up).