Fig. 1. Ventral view of the cockroach Blaberus discoidalis. The inset represents the left hind limb and muscles 177c and 179. Muscle 177c inserts on the medial tip of the trochanter and originates on the basalar plate (wing hinge). Muscle 179 inserts on the trochanter and originates on the ventral side of the coxa. The open circle indicates the axis of rotation of the coxa–trochanter–femur joint.