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Gimbals in the insect leg

, : Gimbals in the insect leg. Arthropod Structure & Development 38(1): 16-30

We studied the common kinematic features of the coxa and trochanter in cursorial and raptorial legs, which are the short size of the podomers, predominantly monoaxial joints, and the approximate orthogonality of adjacent joint axes. The chain coxa-trochanter with its short elements and serial orthogonality of joint axes resembles the gimbals which combine versatility and tolerance to external perturbations. The geometry of legs was studied in 23 insect species of 12 orders.


PMID: 18765299

DOI: 10.1016/j.asd.2008.06.002

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