Fig. 4From: Speed dependent phase shifts and gait changes in cockroaches running on substrates of different slipperinessMedian trends for the frequency spectra of COM accelerations in fore-aft (blue), lateral (red) and vertical (green) direction in ms−2. All frequencies were normalised by dividing specific values by the corresponding stride frequency. a Runs with alternating tripodal leg coordination b Runs with metachronal leg coordination. Substrate slipperiness did not affect the graphs and runs of both conditions were mergedBack to article page