Wilson

Wilson (1966) presents a descriptive model for characterizing all of the commonly observed gaits of insects, including those resulting from amputation. Some of these gaits are shown in the figure below. These rules are adequate for describing the qualitative features of leg coordination in most insects when they walk on smooth horizontal surfaces (note they do not acccount for all empirical data).

Some Commonly observed gaits of insects. All are of the family of wave gaits.

• A wave of protractions runs from posterior to anterior. No leg protracts until one behind is placed in a supporting position.
• Contralateral legs of the same segment alternate in phase
• Protraction time is constant
• Frequency varies (retraction time decreases as fequency increases).
• The intervals between steps of the hind leg and middle leg and between middle leg and foreleg are constant, while the interval between the foreleg hind leg steps varies inversely with frequency.
• Understood ?

Pearson & Cruse

Keir Pearson (1976) and Holk Cruse (1976-1990) developed neurological models to explain the control of an individual leg and the coordination between legs. The resulting gaits are consistant with Wilson's descriptive model.
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