at certain walking challenges. However, how haltere information is processed and used during walking remains, with few exceptions, unclear. Specific examples of what has been found are described below.

History

Halteres were first documented by William Derham in 1714. He discovered that flies were unable to remain airborne when their halteres were surgically removed, but otherwise behaved normally. This result was initially attributed to the haltere's ability to sense and maintain equilibrium.

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