fun article. i have to quibble with the conclusion however. cockroaches (hexapods) have been observed to use four and then two (hind) legs as they run faster a

fun article. i have to quibble with the conclusion however. cockroaches (hexapods) have been observed to use four and then two (hind) legs as they run faster and faster, which implies that contact time (with the ground) seems less important than (leg) cycle times (or leg coordination costs). at least, contact time is not singluarly important. longer legs are generally beneficial regardless, since stride length is a function of leg length.