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. 2017 Feb 17;8:14494. doi: 10.1038/ncomms14494

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Copyright © 2017, The Author(s)

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Gaits were optimized for forward velocity, while climbing upward (left), downward (centre left) or sideways (centre) on a vertical surface using leg adhesion, walking on the ground with leg adhesion (centre right) or walking on the ground without leg adhesion (right). (a) TCS values indicating the degree of similarity to the classic tripod gait footfall diagram (tripod-A). N=15 for each condition. For comparison, TCS values for D. melanogaster during rapid, touch-evoked ground walking are shown on the far right (black, N=10). (b) The average velocity of each gait. Optimized gaits are color-coded by class. Data points are randomly scattered along the x axis for clarity. N=15 for each condition.