Fig. 16. Progress of hinge angles (in degrees) on the real Cross organism. In the ‘goright’
pattern, which is highlighted by the blue background, only modules D and
E are used, while the remaining modules remain in zero position. The ‘go-ahead’
primitive is achieved by modules A,B and C, while the side modules D and E are
fixed in the zero position. (For interpretation of the references to color in this figure
legend, the reader is referred to the web version of this article.)