Minimal model of bat dynamics applied to body roll maneuver.

<p>Both wings are fully extended (<i>e</i>_<i>r</i> = <i>e</i>_<i>l</i> = 1) at mid-dowstroke, while one wing is fully retracted (<i>e</i>_<i>r</i> = 0) at mid-upstroke. For morphological parameters matched to those of <i>C</i>. <i>perspicillata</i> (<i>I*</i> = 5), simulations show that this asymmetric wing extension induces body roll and that aerodynamic forces do not influence the motion significantly. The response is insensitive to modest changes in the relative wing inertia (<i>I*</i> = 2), although when the morphological parameters are matched to those of fruit flies (<i>I*</i> = 0.02,<i>C</i>* = 0.05), aerodynamic forces dominate, while inertial forces have minimal effect on the body orientation. MATLAB code available in file minimal_simulation.zip from the Dryad Digital Repository, <a href="http://dx.doi.org/10.5061/dryad.21qs5" target="_blank">http://dx.doi.org/10.5061/dryad.21qs5</a> [<a href="http://www.plosbiology.org/article/info:doi/10.1371/journal.pbio.1002297#pbio.1002297.ref031" target="_blank">31</a>].