Extended Data Fig. 8: Comparison of walking paths and velocities for real tethered walking versus kinematic replay in a tethered or untethered model.

Leg kinematics from a tethered walking experiment (blue) were used for kinematic replay in NeuroMechFly either tethered on a simulated spherical treadmill (orange) or freely walking on flat ground (green). Shown are resulting (A) integrated walking paths, as well as associated (B) forward, (C) lateral, and (D) yaw velocities.