Drosophila uses a tripod gait across all walking speeds, and the geometry of the tripod is important for speed control.

摘要: Changes in walking speed are characterized by changes both the animal's gait and mechanics of its interaction with ground. Here we study these Drosophila. We measured fly's center mass movement high spatial resolution position footprints. Flies predominantly employ a modified tripod that only marginally speed. The can be approximated simple model - angular radial spring-loaded inverted pendulum (ARSLIP) which is two springs an effective leg become stiffer as increases. Surprisingly, change stiffness spring mediated shape rather than individual legs. effect on also explain large variation kinematics among insects, ARSLIP variations.