In cockroach, three pairs of legs, are substantially different in lengths and functions, but they have the same parts and move the same way. The upper portion of the leg, called the coxa, attaches the leg to the thorax. 

The trochanter acts like a knee and lets the cockroach bend its leg.

The femur and tibia resemble thigh and shin bones.

The segmented tarsus acts like an ankle and foot. The hook-like tarsus also helps cockroaches climb walls and walk upside down on ceilings.

So the correct answer is 'Coxa, trochanter, femur, tibia, and tarsus'.