Fig. 10. Stance or swing duration as a function of speed. Stance and swing duration decrease as a function of speed until mid-speed (Full and Tu, 1990). No change in duration is observed at high speeds. Animals ran at the mid-speed range in the present study. Most previous studies of cockroach locomotor control, other than escape response elicitation, have been conducted at speeds less than 1/6 the maximal speed. ^aPresent study; ^b(Watson and Ritzmann, 1998a); ^c(Watson and Ritzmann, 1998b); ^d(Ridgel and Ritzmann, 2005); ^e(Tryba and Ritzmann, 2000a; Tryba and Ritzmann, 2000b); ^f(Watson et al., 2002a; Watson et al., 2002b).