The American cockroach, Periplaneta americana, is reported to follow walls at a rate of up to 25 turns s(-1). During high-speed wall following, a cockroach holds its antenna relatively still at the base while the flagellum bends in response to upcoming protrusions. We present a simple mechanosensory model for the task-level dynamics of wall following. In the model a torsional, mass-damper syste...
