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Figure 2


Fig. 2. Representative vertical climb of B. discoidalis up a force plate at average velocity 0.18 m s-1. (A) Sequential video frames of the cockroach as it enters (left), is fully on (middle), and leaves (right) the force plate. Red arrows indicate single legs on the force plate. (B) Alternating tripod stepping pattern during the climb. Black bars represent stance period and white spaces the swing period. R, right side; L, left side. (C) Fore-aft (blue), lateral (green) and normal (red) wall reaction forces produced by the cockroach during a climb. Single-leg forces were measured as the cockroach entered (A, left) and exited the plate (A, right). The black circles correspond to the panels in A. Whole body (center of mass) wall reaction forces were measured while the cockroach was fully on the plate (middle) with at least three legs in contact (horizontal black bar below C). Horizontal broken lines represent average body weight.





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