Fig. 12. Contribution of the hind legs of Philaenus in walking. Images were captured at 1000 s^-1 with an exposure of 0.5 ms. Selected images, viewed ventrally, are shown at the times indicated. (A) Horizontal walking. The middle and front legs were lifted in a sequence to perform a swing phase of similar duration (thick black bars) and contact the ground during a stance phase of variable duration (thin blue bars). The hind legs did not move. (B) Vertical walking in which the hind legs did contribute.