Additional file 1: Figure S1. of Speed dependent phase shifts and gait changes in cockroaches running on substrates of different slipperiness
Creators: name: Weihmann, Tom
name: Pierre-Guillaume Brun
name: Pycroft, Emily
Publisher: name: figshare
Year: 2017
Subjects: subject: Biophysics
subject: Space Science
subject: 29999 Physical Sciences not elsewhere classified
subject: FOS: Physical sciences
subject: FOS: Physical sciences
subject: Medicine
subject: Neuroscience
subject: Pharmacology
subject: Biotechnology
subject: 20199 Astronomical and Space Sciences not elsewhere classified
subject: 110309 Infectious Diseases
subject: FOS: Health sciences
subject: FOS: Health sciences
subject: 60506 Virology
subject: FOS: Biological sciences
subject: FOS: Biological sciences

description: COM kinematics over second legs’ strides for alternating tripodal runs on non-slippery substrate. A stride consists of a contact phase and the subsequent swing phase. The black solid line shows the median course of a value and the grey shaded area the interquartile range. First column: fore-aft direction (X); Second column: lateral direction (Y); Third column: vertical direction (Z). First row: distance in m; Second row: velocity in ms−1; Third row: acceleration in ms−2. Figure S2. COM kinematics over second legs’ strides for metachronal runs on non-slippery substrate. A stride consists of a contact phase and the subsequent swing phase. The black solid line shows the median course of a value and the grey shaded area the interquartile range. First column: fore-aft direction (X); Second column: lateral direction (Y); Third column: vertical direction (Z). First row: distance in m; Second row: velocity in ms−1; Third row: acceleration in ms−2. Figure S3. COM kinematics over second legs’ strides for alternating tripodal runs on slippery substrate. A stride consists of a contact phase and the subsequent swing phase. The black solid line shows the median course of a value and the grey shaded area the interquartile range. First column: fore-aft direction (X); Second column: lateral direction (Y); Third column: vertical direction (Z). First row: distance in m; Second row: velocity in ms−1; Third row: acceleration in ms−2. Figure S4. COM kinematics over second legs’ strides for metachronal runs on slippery substrate. A stride consists of a contact phase and the subsequent swing phase. The black solid line shows the median course of a value and the grey shaded area the interquartile range. First column: fore-aft direction (X); Second column: lateral direction (Y); Third column: vertical direction (Z). First row: distance in m; Second row: velocity in ms−1; Third row: acceleration in ms−2. Figure S5. The courses of pitch, yaw and ∠TA over the second legs’ strides. The black solid line shows the median course of an angle and the grey shaded area the interquartile range. Upper row: Alternating tripodal runs on non-slippery substrate; Second row: Metachronal runs on non-slippery substrate; Third row: Alternating tripodal runs on slippery substrate; Fourth row: Metachronal runs on slippery substrate. Figure S6. Stride frequencies, duty factors, swing rates and contact rates plotted against running speed for all walking legs and slippery conditions. First row: Stride frequency (f T ); Second row: duty factors (β); Third row: swing rates (t S −1 ); Fourth row: contact rates (t C −1 ). Red circles are measured values for runs with metachronal leg coordination while black crosses depict values from alternating tripodal runs. Figure S7. Phase shifts between ipsilateral legs and between the contralateral rear legs during alternating tripodal (white) and metachronal (red) runs on non-slippery (left) and slippery substrate. A, E) Phase values for the touch-downs of the fore legs in the stride period of the rear legs. B, F) Phase values for the touch-downs of the middle legs in the stride period of the rear legs. C, G) Phase values for the touch-downs of the fore legs in the stride period of the middle legs. D, H) Phase values for the touch-downs of the contralateral rear legs. Figure S8. Stride durations, swing durations and contact durations plotted against running speed for all walking legs. Stride duration: row one and four; contact duration: row two and five; swing duration: row three and six. The rows one to three refer to non-slippery conditions whereas the rows four to six refer to slippery conditions. Red circles are measured values for runs with metachronal leg coordination while black crosses depict values from alternating tripodal runs. Black (alternating runs) and red (metachronal) lines in the upper three rows were calculated on the basis of the linear least squares regressions for t S −1 and t C −1 (see Fig. 4). (PDF 2640 kb)