Figure 2.

Simulated locust kick and jump. (A) Neural circuit, with flexor (red) and extensor (green) motor neurons, inhibitory (gold) neurons, flexor command (lavender) neuron, the flexor and extensor muscles, and the tendon lock mechanism that prevents premature extension. (B) Jump motor program. Top: flexor (red), extensor (green), and inhibitory motor neurons (gold); 2nd: Flexor muscle tension; 3rd: Extensor muscle tension; Bottom: longitudinal (blue) and vertical (green) distance moved. (C) The kick immediately before (left) and 5 ms later (right). (D) The jump immediately before (left) and 25 ms later (right) as the feet leave the ground. Adapted from Cofer et al., 2010b.