Fig. 8. Representative ground forces, center of mass (COM) velocities, and COM mechanical energies during a gait that combined vaulting and bouncing mechanics. Similar to a mammalian gallop, Kassina often used a gait that vaulted for half of the stride and bounced for half of the stride, resulting in an intermediate %Congruity. A single complete stride is shown, for which animal weight=0.094 N, horizontal velocity=0.13 m s^-1, stride frequency=2.1 Hz, phase shift=114°, recovery=23.1%, duty factor=0.72, same-side limb (SSL) phase=33.9%, diagonal limb (DL) phase=11.9%, congruity=50.5%, and external mechanical power=0.13 W kg^-1. E_k, horizontal kinetic energy; E_p, gravitational potential energy.