JEB -- Griffin et al. 207 (20): 3545 Figure IG6

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Fig. 6. Contour plots of the magnitude of the center of mass vertical displacement relative to the pendulum vertical displacement ( ${Delta}$ z_com; A) and the phase relationship between the center of mass and the hind pendulum vertical displacement ( ${phi}$ ; B) for the two-pendulum model of walking. These data are plotted as a function of the relative mass of the fore pendulum, M_f, and the phase difference between the fore and hind pendulums, ${theta}$ . Both pendulums have the same amplitude in all cases. The circled letters correspond to the combinations of phase and mass distribution in Fig. 5A–D.