Fig. 8. Orchestration of kinematic changes during turning. As an illustration of the temporal sequence of the kinematic changes, time constants of all reliable curve fits (² value n.s. at P>0.5, and r²>0.36) are drawn in their temporal order from left to right. Time constants of parameters of the same leg are arranged in individual rows: O1–O3 and I1–I3 label outer and inner front, middle and hind legs, respectively. =0 denotes stimulus onset. Filled squares in the centre of the graph mark the time constants of the locomotion parameters, i.e. angular velocity of rotation (R) and speed of sideward translation (Ty). Circles mark time constants of stance phase (filled) and swing phase parameters (open). The identity of a stance phase parameter is indicated above the symbol, that of a swing phase parameter is indicated below (AEP, Anterior Extreme Position; L, length; PEP, Posterior Extreme Position; .x and .y, components of position vectors; , direction). The grey bar separates primary parameters that lead the overall locomotor change from those that lag behind (secondary). The leading parameters, i.e. stance direction of both front legs and shifts in PEP of the inner front leg and AEP of outer front leg, initiate turning.