Figure 5. Raw 3D positions of the tracked points through a single, 8-second bout of walking.

(A) A ventral view. (B) View from the animal's right and slightly above the substrate. In both panels, the red points indicate the positions of the tibia-tarsus (TiTa) joint; the blue points: the femur-tibia (FTi) joint; green: the coxa-trochanter (CTr) joint; orange: ThC joint; and the purple points are the extra dots placed on the coxae of the front legs to aid in determining their rotation. The black, olive, and yellow line segments connect the points of each leg as they appeared in selected, synchronous video frames. The cockroach did not appear to be walking precisely straight forward during this trial, as most obviously indicated by the left-right asymmetry in the front leg TiTa positions.