Fig. 4. (A-E) Fore-aft (blue), lateral (green) and normal (red) wall reaction forces developed by individual legs for one step during vertical climbing. Leg forces were averaged from N=7 individuals and normalized to stride period. Values are means ± s.d. In each panel, the solid black vertical line shows the average, normalized stance period (gray bars indicate s.d.). The crosshatched region in A and B shows the overlap region of middle legs with front legs. Normal forces in this region were estimated from Fig. 3C. Black broken horizontal line represents average body weight.