# Climbing-favours-the-tripod-gait-over-alternative-faster-insect-gaits-ncomms14494-s6

Supplementary Movie 5 Gaits optimized for upward 132 climbing using leg adhesionand ground walking without adhesion in a 25 mm, or 250 mm long insect model. Aventral view of the insect model walking at 5Hz (25 mm model), or 2Hz (250 mm model)with each of 15 optimized gaits. Gravity exerts a force on the model, pulling it backward (upward climbing), or toward the substrate (ground walking). Red circles indicate that a leg is in contact with the substrate. Movie is slowed down to 0.1x (25 mm model), or 138 0.5x (250 mm model) real-time.

- Kind: Short
- Year: 2017
- Runtime: 1 min
- By: Ramdya P, Thandiackal R, Cherney R, Asselborn T, Benton R, Ijspeert A, Floreano D
- Archive: [Wikimedia Commons](https://commons.wikimedia.org/wiki/File:Climbing-favours-the-tripod-gait-over-alternative-faster-insect-gaits-ncomms14494-s6.ogv)
- Licence or status: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0) (as the archive states it)
- Credit: Ramdya P, Thandiackal R, Cherney R, Asselborn T, Benton R, Ijspeert A, Floreano D
- Who can watch: Teens profiles and older (the archive gives no rating; placed by Invisible Network from its collection and subjects)

[Watch now](https://invisiblenetwork.ai/watch/archive/commons/59160244?play=1)