There was an error published in J. Exp. Biol. 211, 2735-2751 On p. 2740, in the section entitled 'Limb motion during normal walking', a character was missing in the second sentence such that the degree of incline of the forearm, forefoot and thigh segments at mid-stance was incorrectly given as 411 deg. rather than 4-11 deg. The text should have read:'At mid-stance, the forearm, forefoot and thigh segments were all relatively vertical (within 4-11 deg.), whereas the upper arm, shank and hindfoot segments were less vertically inclined (-19, -23 and 38 deg. to vertical, respectively).'We apologise to authors and readers for this error.