Sane, S. P. and Dickinson, M. H. (2001). J. Exp. Biol.204, 2607–2626.
The correct form of equation (1) is:
and not
The only difference is that in the second term of the correct equation, there is only one (not two) dots above φ, signifying a single and not a double derivative of stroke position with respect to time.
© The Company of Biologists Limited 2001
2001