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. 2015 Sep 25;9:10. doi: 10.3389/fnbot.2015.00010

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Copyright © 2015 Dasgupta, Goldschmidt, Wörgötter and Manoonpong.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Real-time data for adaptive locomotion to overcome leg damage. (A) The FT-i joint angles of the right middle leg R₂. (B) The CT-i joint angles of the right middle leg R₂. (C) The TC-i joint angles of the right middle leg. (D) Accumulated error signal at the end of each stand phase. It is reset to zero at every swing phase. Below pictures show the locomotion of AMOSII during the experiment (temporal spacing of the panels are not exact). Please see the Supplementary Video 6 for closer look at the exact adaptive behavior.