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. 2010 Dec 8;214(1):69–79. doi: 10.1242/jeb.044800

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Fig. 4. — The tarsal angle (Φ) and steering velocity for steps during the song-left condition. Top diagrams (A–C) show the tripod comprising the right front (RF), left middle (LM) and the right hind (RH) tarsi. Lower diagrams (D–F) show tarsal angle and steering velocity for the other tripod comprising the left front (LF), right middle (RM) and the left hind(LH) tarsi. Red markers on the schematic cricket (right) indicate the tripod considered. Individual traces are shown in black, average traces in magenta, average time of the stance–swing transition is indicated by a vertical line (cyan).