The tripod gait is so successful in terms of stability because the insect always has three legs on the ground. At any time, the insect will have two legs on the ground on one side, and one leg on the ground on the other side, forming a triangle or a ‘tripod’ (see image) (Delcomyn 1971). In other words, three of the insect’s legs are on the ground moving backwards, while the other three are raised and moving forward. This propels the insect forward, while maintaining points of contact on the ground on both sides. This allows the insect to be stable regardless of terrain.