Mechanical models for insect locomotion: dynamics and stability in the horizontal plane - II. Application

We study the dynamics and stability of legged locomotion in the horizontal plane. We discuss the relevance of idealized mechanical models, developed i n a companion paper, to recent experiments and simulations on insect runnin g and turning. Applying our results to rapidly running cockroaches, we show that the models' gait and force characteristics match observations reasona bly well.