duty cycles are under constant change (see Fig. \[fig\_curve\] on the bottom, e.g. the right hind leg is barely moving and provides an anchor point for the turn towards the right; in even tighter turns it may stand still and wonÕt produce any stepping during the curve).

![Top – Footfall pattern for tripod gait, black bars indicate swing movement of the respective leg (L1: front left leg, L2: middle left leg, L3: hind left leg, R1: front right leg, R2: middle right leg, R3: hind right leg), abscissa is simulation time. The lower bars indicate 500 iterations corresponding to 5s real time. Bottom – footfall pattern for curve walking (turn towards the right). For more information see [@schilling_hexapod_2013]. []{data-label="fig_curve"}](Fig_tripod.pdf)

![Top – Footfall pattern for tripod gait, black bars indicate swing movement of the respective leg (L1: front left leg, L2: middle left leg, L3: hind left leg, R1: front right leg, R2: middle right leg, R3: hind right leg), abscissa is simulation time. The lower bars indicate 500 iterations corresponding to 5s real time. Bottom – footfall pattern for curve walking (turn towards the right). For more information see [@schilling_hexapod_2013]. []{data-label="fig_curve"}](Fig_curve.pdf)

From our point of view, the approach by Cully 