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Fig. 1. (A) Depiction of a cockroach following a straight wall. L is the
farthest point ahead of the cockroach's point of rotation (POR), as measured
along the body axis, that the antenna contacts the wall. The bold arrow at the
bottom indicates the leading point on the antenna that is in contact with the
wall. (B) Unicycle model of the running cockroach. The model parameters are
l, the preview distance; d, the antenna measurement;
v, the forward running speed; 
, the angle of the cockroach
body relative to the wall [positive is measured counter clockwise (CCW) for
all angles, angular velocities and moments; note that <0 in this
figure]; 
, the angular velocity of the body; u, the moment
applied by the legs about the POR. The preview distance l may be less
than L due to neural and muscle activation delays. In the model, the
angle of the POR velocity, 
, is the same as the body angle, , so
is not shown for clarity.
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