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Although the interleg coordination of intact insects has been widely described in previous studies, the adaptive walking patterns in free\u2010walking insects with amputation of 1 or more legs are still unclear. The pentatomid bug <jats:italic>Erthesina fullo<\/jats:italic> exhibits a tripod gait, when walking freely on horizontal substrates, like many other insects. In this study, amputations were performed on this species to investigate changes in interleg coordination. The walking parameters were analyzed, such as the locations of touchdown and liftoff, cycle period, walking speed, and head displacement of intact and amputated insects. The results show that <jats:italic>E. fullo<\/jats:italic> displays adaptive interleg coordination in response to amputations. With 1 amputated leg, bugs changed to a 3\u2010unit gait, whereas with 2 amputated legs they employed a wave gait. These data are helpful in exploring the motion mode control in walking insects and provide the theoretical basis for the gait control strategy of robots, when leg failure occurs.<\/jats:p>","DOI":"10.1111\/1744-7917.13412","type":"journal-article","created":{"date-parts":[[2024,7,9]],"date-time":"2024-07-09T15:50:32Z","timestamp":1720540232000},"page":"649-661","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Interleg coordination in free\u2010walking bug <i>Erthesina fullo<\/i> (Hemiptera: Pentatomidae)"],"prefix":"10.1111","volume":"32","author":[{"given":"Qingfei","family":"Han","sequence":"first","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing China"},{"name":"Laboratory of Intelligent Machines, School of Energy Systems Lappeenranta\u2010Lahti University of Technology  Lappeenranta Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuyu","family":"Chen","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huan","family":"Shen","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Marine Engineering Equipment Zhejiang Ocean University Zhoushan Zhejiang Province 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