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Different views of the movement of the leg during the search movement. The dark solid line always shows the current leg configuration as described through the joint angles. The red dashed line shows the position of the tarsus as estimated by the MMC leg network. The horizontal dashed lines in (B,C) indicate the ground level. View from above is shown in (A), side view is shown in (B) and view from the front is shown in (C). Right: number of iterations.
