Extended Data Fig. 4: Sensitivity to proportional and derivative gains of kinematic replay during walking.
From: NeuroMechFly, a neuromechanical model of adult Drosophila melanogaster
MSE of (A) joint angles and (B) joint velocities as a function of derivative (Kd) and positional gains (Kp). Selected Kp and Kd values are indicated (blue). Kp and Kd pairs rendering the simulation nonfunctional during kinematic replay are also indicated (white). (C) Estimated ThC pitch torques and (D) contact force measurements of the right legs during forward walking as a function of proportional gain (Kp) when the derivative gain (Kd) is fixed at 0.9. Measurements for the contralateral legs were nearly symmetrically identical and are not shown. Results from the selected Kp and Kd values are indicated (red). (E) Estimated ThC pitch torques and (F) Contact force measurements of the right legs during forward walking as a function of derivative gain (Kd) while holding proportional gain (Kp) fixed at 0.4. Measurements for the contralateral legs were nearly symmetrically identical and are not shown. Results from the selected Kp and Kd values are indicated (red).
