Walking in invertebrates

Nearly all invertebrates that walk are arthropods. These all use a metachronal rhythm in which the legs move in sequence from rear to font. Rhythmic leg movements are produced by networks of neurons called central pattern generators (CPGs). CPGs are coupled together to produce a patterned sequence of leg movements, but can be influenced by sensory feedback from the legs to adapt locomotion to rough or unpredictable terrain. Higher control of walking, starting, stopping, turning, and speed, are controlled by the brain. Walking in arthropods has been used successfully as a model for the design and construction of walking robots.