Extended Data Fig. 3: The position error for every joint in the distal leg during walking and grooming as a function of kinematic chain configuration.

Body-length normalized mean absolute errors (MAE) comparing measured 3D poses and angle-derived joint positions during walking. Errors are compared among different DoF configurations for (A) Coxa–Trochanter joints, (B) Femur–Tibia joints, (C) Tibia–Tarsus joints, and (D) Claw positions during walking and (E-H) grooming. For each condition, n = 2400 samples were computed across all six legs from 4s of 100 Hz video data. Data for each leg are color-coded. ’R’ and ’L’ indicate right and left legs, respectively. ’F’, ’M’, and ’H’ indicate front, middle, and hind legs, respectively. Violin plots indicate median, upper, and lower quartiles (dashed lines). Results from adding a coxa–trochanter roll DoF to based DoFs are highlighted in light gray.