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Figure 9


Fig. 9. Context-dependent targeting of middle leg AEP. Targeting of the right middle leg towards the ipsilateral front leg is illustrated by the vicinity of the middle leg AEP and the front leg PEP in straight walking. Values are means ± s.d. (Inner, N=51; Straight, N=64; Outer, N=58). (A) Inner curve-walking leg perturbed (orange symbols). (B) Straight walking leg perturbed (black symbols). (C) Outer curve-walking leg perturbed (purple symbols). Locations of front leg extreme positions (circles) and swing directions (arrows) reflect context-dependent kinematics. Squares show extreme positions of middle legs. Filled symbols, unperturbed extreme positions; open symbols illustrate the effect of perturbation. In straight walking (B), middle leg AEP was regulated to lie close to front leg PEP. In curve walking, middle leg swing direction shifted as the animals adapted to the behavioural context of curve walking. Touch-down location remained regulated, as indicated by the small s.d. (A, inner legs; C, outer legs), although not towards the front leg PEP. Perturbation of the front leg does not affect the targeting mechanism in a context-dependent manner (see text).





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