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play a pivotal role in the organization of the coordinated movement of the three ipsilateral legs. According to our reasoning, the most reliable signal that affects normal stepping during locomotion is ground contact (touchdown) and lift-off. Both of them are, in essence, brought about by vertical movement of the femur of the leg, that is by proper activation of the levator-depressor neuromuscular system. We tested this assumption accordingly in simulations with the model. In doing so, we succeeded in mimicking both the tetrapod and the tripod coordination patterns, which stick insects exhibit during normal walking. Moreover, we found that the coordination process in tripod only requires position signals of the legs whereas in tetrapod angular velocity signals, too, are necessary for the coordination. We also succeeded in modelling the transition between these coordination patterns and found that the switch is, in some sense, easier from tripod to tetrapod than in the opposite direction. The model thus supports our assumption on the pivotal role of the levator-depressor neuro-muscular system in normal walking.

A model postulating a pivotal role of the levator-depressor neuro-muscular systems in locomotion of the stick insect