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Figure 7


Fig. 7. Average cockroach distance to the wall y (A,B) and body angle {theta} (C,D) as a function of distance traveled along the 45° angled wall for two different speed groups: Slow (A,C) and Fast (B,D). The actual cockroach data (black) are compared to predictions from the PD-control model (red) using the parameters from Table 1. To show the importance of the derivative gain, KD, we tested the controller with the KD=0 (P-control, blue); note that for P-control, performance degrades with increasing speed as expected. The derivative gain significantly improved the fit for the speeds tested.





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