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. 2020 May 18;41(3):231–246. doi: 10.24272/j.issn.2095-8137.2020.029

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Editorial Office of Zoological Research, Kunming Institute of Zoology, Chinese Academy of Sciences

This is an open-access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/4.0/), which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

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A: Shadow variation. B: Kinematic quantities. C: Body pitch angle. D: Force distribution. Forces on midlegs (LM or RM) and on forelegs (LF or RF) compensate for each other, whereas force on hindlegs (LH or RH) varies little. This force tracking technique confirms previous visual observations that forelegs and hindlegs mainly serve as supports (Caponigro & Eriksen, 1976). Reprinted with permission from Journal of Bionic Engineering, Lu et al., 2018, Springer Nature.