Intact front tarsi results

Insect

Robot simulation

Absolute angles normalized to the target angle θ_T = 1 (unitless). Left: prothorax θ_P with a continuous line; metathorax θ_M with a dotted line; and the body θ_B with a dashed line. Right: changes in speed for the prothorax (circles) and metathorax (asterisks) relative to their velocity before the turn. The bottom middle shows the direction front legs follow relative to the initial heading, i.e., θ_B + θ_L; both legs are shown, inner front leg (circles) and outer (squares).

Front tarsi blocked results

Insect

Robot simulation

The prothorax movement does not point consistently towards the target, in contrast with results shown above. This difference supports the conclusion that normally the front legs pull the prothorax towards the target, but they cannot do so when the tarsi are blocked.