Decentralized control of insect walking: A simple neural network explains a wide range of behavioral and neurophysiological results
Fig 3
A-H. Footfall patterns for velocities driven by 50 mV, 40 mV, 30 mV, 25 mV, 20 mV, 15 mV 10 mV and 8 mV (G: the latter after disturbance of MR at about 8–11 s, see prolonged swing) and 8 mV (H: a stable pattern reached after more than 240 s). Apart from the last two runs all started with the same leg configuration. The corresponding transient phases for the last two runs are given in Supporting information (S3F and S3G Fig). Black bars show swing mode, Legs: FR front right, MR middle right, HR hind right, FL front left, ML middle left, HL hind left. For videos see Supporting information S1–S8 Videos. Abscissa: Time (s).