Figure 1.

(a) Crawling and (b) inching locomotion gaits of soft-bodied animals (caterpillars) that lack a hard skeleton and generate adaptive behaviours in complex environments without massively complex brains. Note the arrangement of prolegs on the mid-body segments in (a) Manduca sexta that are lacking in the inching caterpillar (b). The red solid lines indicate gripping segments whereas the blue dashed lines indicate non-gripping segments.