Table 1.

Estimated parameters for the robotic fly shown in figure 1.

quantity	symbol	quantity	units
mass	m	81 × 10−6	kg
mass of ocelli		25 × 10−6	kg
moment of inertia (x-axis)	J1	1.42 × 10−9	kg m2
moment of inertia (y-axis)	J2	1.34 × 10−9	kg m2
moment of inertia (z-axis)	J3	0.45 × 10−9	kg m2
moment of inertia added by ocelli (x- and y-axis)		1.8 × 10−9	kg m2
wing drag factor	bw	2.0 × 10−4	Ns m−1
distance, CM to wings	rw	9 × 10−3	m