Fig. 10. Time courses of aerodynamic and inertial torques of the wing over a flapping cycle. Aerodynamic and inertial torques of the wing as shown in Fig. 2B. (A) Rolling torques: aerodynamic rolling torque (blue; Tr_aero_t), inertial rolling torque (red; Tr_iner_t) and total rolling torque (green; Tr_total). (B) Yawing torques: aerodynamic yawing torque (blue; Ty_aero_t), inertial yawing torque (red; Ty_iner_t) and total yawing torque (green; Ty_total). (C) Pitching torques: aerodynamic pitching torque (blue; Tp_aero_t), inertial pitching torque (red; Tp_iner_t) and total pitching torque (green; Tp_total). T, dimensionless period of one flapping cycle.