This video shows a neuromechanical simulation of the cockroach Blaberus discoidalis. The body was made invisible to show the leg motions. Each leg has its own neural circuit based on insect neurobiology, modified to more closely match 3D kinematic data. The legs communicate by sharing a minimal amount of information, just like insects do. The nervous system is composed of over 600 continuous-time neuron models, like those used by computational biologists. This extra attention to the biology helps the legs transition smoothly into turning motions and change direction.