Fig 4. Single-leg vertical forces in weaver ants climbing on a vertical glass surface, as a function of leg orientation.

Leg orientation is given as an angle ranging from -90° (pointing downward; N _front = 3, N _middle = 8, N _hind = 18) to 0° (horizontal) to +90° (pointing upward; N _front = 9, N _middle = 10, N _hind = 8). For all legs with negative angles, the foot position was below the CoM, and positive angles corresponded to foot positions above the CoM.