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Figure 2


Fig. 2. Response of the metathoracic leg with a freely rotating body–coxa joint to an impulsive perturbation. (A) The predicted free response of a leg based on k and {gamma} from dynamic oscillation experiments (Dudek and Full, 2006). Mass was assumed to be 0.1 g. (B) The actual response of a representative leg with a free body–coxa joint and fixed C-Tr-Fe and femur–tibia joints (blue) compared to the best fit line of the model (red). In all cases, the position is normalized to the peak displacement. The predicted response recovers more than 85% within the time it takes for the actual leg to recover 99%.





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