Fig. 3
From: Information-based centralization of locomotion in animals and robots
Centralization of cockroach locomotion. a Control, local, and global signals recorded from the cockroach. Strides were separated according to kinematic phase calculated using the Phaser algorithm62. b Distribution of stride frequencies across all 2982 strides taken from 17 animals. c Distribution of the number of spikes in the femoral extensor over a stride. d Probability density functions of the timing of the first four spikes if present in a stride, with time normalized by stride period T. e Local leg extension trajectories colored by the timing of the first spike (colormap from d). Correlations between the timing of the first spike and the resulting local and global states evident by the fact that blue strides with an early spike are distinguished from yellow strides with a late spike. f Global leg extension trajectories colored as in e. g ICENT, IG, IL, and ICO for all strides
