705483.fig.007a
(a)
705483.fig.007b
(b)
Figure 7: (a) shows the Wing Kinematics generated by the Central Core network of a Non-Autonomous Cruising Controller and the corresponding insect motion and sensory update (the stroke kinematics relatively has higher beats rate than that in rotation for the above controller). (b) shows the Wing Kinematics generated by the Central Core network of a Polymorphic flight Controller and the corresponding insect motion, when acted upon by external sensory inputs. One can see the initial cruising behavior is been switched to Alt. Gain behavior (with brief switching delay in wing kinematics).