Fig. 6From: Speed dependent phase shifts and gait changes in cockroaches running on substrates of different slipperinessSketches explaining the calculation of the tripod synchrony factor (TSF) and the temporal overlap ratio between consecutive sets of legs. a The TSF is calculated as: TSF = a/b. b The temporal overlap between consecutive sets of legs is calculated as c/d. Black bars depict intervals with legs in contact with the groundBack to article page