Fig. 5. Example of a trial in which a crab under-compensated for disk rotation, and had significant self-translation during disk rotation. (A) Crab's transverse body axis digitized at 200 ms intervals; conventions as in Fig. 3. (B) Orientation and bearing of crab and disk over time. Black arrows, two abrupt compensatory turns occurring after disk rotation ceased, the second of which is in mid-return; note the coincident large change in bearing, caused by the run home. (C) Crab and disk angular velocity, and crab angular velocity relative to the disk over time. (D) Reconstruction of seven possible home vectors computed by the path integrator, superimposed on the crab's actual path as in A. See text for details.

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