Fig. 3From: Speed dependent phase shifts and gait changes in cockroaches running on substrates of different slipperinessExample gait patterns; bars depict ground contacts of the legs which are counted fore to aft with L indicating left and R indicating right side legs. a Alternating tripodal run at an average speed of 0.1 ms−1 with an average phase shift between ipsilateral fore and rear legs of 0.91 and an average duty factor of 0.52. b High speed metachronal run at an average running speed of 0.24 ms−1 with an average phase shift between ipsilateral rear and fore legs of 0.71 and an average duty factor of 0.41Back to article page