1. Mechanical and Aerospace Engineering, University of California, Davis 1 , Davis, CA 95616 , USA
2. Delft University of Technology 2 Micro Air Vehicle Laboratory, Control and Simulation, Faculty of Aerospace Engineering , , 2629 HS Delft , The Netherlands
3. University of Oxford 3 Department of Biology , , Oxford OX1 3SZ, UK
4. Royal Veterinary College 4 Structure and Motion Laboratory, Department of Comparative Biomedical Sciences , , Hatfield AL9 7TA , UK