Fig. 7

Locomotion of Porcellio scaber. a-e Images of a walking P. scaber, taken at different time points, showing the extreme positions of pereopods 1, 4 and 7 during their effective strokes. Tips of the pereopods are marked with arrows. f Illustration of the extreme positions of pereopods 1, 4 and 7 during the beginning (blue) and the end (red) of their effective strokes. Podomeres that are partially concealed by the epimeres are shown with segmented lines. While pereopods 1 and 7 employ flexion and extension of their proximal podomeres, pereopod 4 rotates at its base. g Movement of the body relative to the dactyli during the effective strokes of pereopods 1, 4 and 7. The black solid outline shows the starting position, and the gray segmented outline shows the position at the end of an effective stroke. As the pereopods move, they pivot on the dactylus