Fig. 7From: Speed dependent phase shifts and gait changes in cockroaches running on substrates of different slipperinessTripod synchrony factors (TSF) after Spagna et al. [49] plotted against running speed. Red circles refer to runs with metachronal leg coordination and black crosses to tripodal runs. a Non-slippery conditions b Slippery conditions, which led to lower maximum speeds and strong overlap in the speed ranges of tripodal and metachronal runsBack to article page