Fig. 3. Kinematic perturbations of cockroaches running on flat versus rough terrain. While locomoting on rough terrain (blue traces), cockroaches encountered perturbations in pitch (A), roll (B) and yaw (C) away from typical patterns found during flat, unperturbed running (black traces). Due to small misalignment of the cross introducing a constant offset, roll traces are normalized around a baseline of zero. Yaw was also normalized to zero to represent deviation from the straight-line path between beginning and ending points during a single trial.