Fig. 2.

Changes in tarsal angle for all six legs and concurrent walking and steering velocity. Three 2 s periods of walking in the no-song (A), song-left (B) and song-right (C) conditions. Red shading on the traces represents the occurrence of a chirp. (A) No-song, steering velocity fluctuated around zero. (B,C) When song was present, differences in tarsal angle were most obvious in the front legs. The steering velocity increased in the direction of the song (L, leftwards and R, rightwards). RF and LF, right and left front; RM and LM, right and left middle; RH and LH, left and right hind tarsi; Sw, swing; St, stance. *Legs maintaining their movement pattern between chirps.