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Figure 2


Fig. 2. Representative swing trajectories and step patterns. (A) Top-view of front leg swing trajectories of two subsequent steps: unperturbed (black crosses) and perturbed (red circles) for inner front leg in curve walking (left), straight walking (centre), and for outer leg in curve walking (right). Data points were recorded at a frame rate of 50 Hz. Obstacle contact (filled circles) could last for a variable time span (here: 60-80 ms), eliciting an avoidance reflex that resulted in a deviating swing trajectory until touch-down (AEP). (B) Step patterns of all six legs in straight and curve walking. Traces from top to bottom: lFL, left front; lML, middle; lHL, hind leg; rFL, right front; rML, middle; rHL, hind leg. Arrows indicate direction of visual pattern motion and turn direction. The data belong to the same trials shown in A. The perturbation ('p') was applied during a swing movement of the right front leg. Perturbation causes only small effects in the stepping rhythm of the six legs.





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