The simultaneous use of electromyography (EMG), strain gauges, and cinematography show that the capacity of continuous displacement from a single peg is based on the following: sequential activity of the tested muscles from front to rear; activity restricted to the short portion of the body in contact with the peg; alternate action of the muscle longissimus dorsi on the two sides, the transition between one side to the other occurring at the site of contact with the peg; unilateral activity of the muscle supracostalis ventralis responsible for a bulging against the peg; a great stability in the direction of the resultant force, which makes only a small angle with the directio of the motion.

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Abstract. 1. Experiments with rock lobsters walking on a treadmill were undertaken to obtain information upon the system controlling the movement of the legs. Results show that the position of the leg is an important parameter affecting the cyclic movement of the walking leg. Stepping can be interrupted when the geometrical conditions for terminating either a return stroke or a power stroke are not fullfilled. 2. The mean value of anterior and posterior extreme positions (AEP and PEP respectively) of the walking legs do not depend on the walking speed (Fig. 1). 3. When one leg is isolated from the other walking legs by placing it on a platform the AEPs and PEPs of the other legs show a broader distribution compared to controls (Figs. 2 and 3). 4. Force measurements (Fig. 4) are in agreement with the hypothesis that the movement of the leg is controlled by a position servomechanism. 5. When one leg stands on a stationary force transducer this leg develops forces which oscillate with the step rhythm of the other legs (Fig. 5). 6. A posteriorly directed influence is found, by which the return stroke of a leg can be started when the anterior leg performs a backward directed movement. 7. Results are compared with those obtained from stick insects. The systems controlling the movement of the individual leg are similar in both, lobster and stick insect but the influences between the legs seem to be considerably different.