Fig. 4. Whole-body mechanics in A. mississippiensis during a single step
of a walking trot (trial GC13; 0.174 m s-1). (A) Representative
plots of whole-body ground reaction force, velocity of the center of mass and
vertical displacement of the center of mass versus time. Footfalls
(
) and liftoffs (
) are indicated for individual feet during the
step (F, forelimb; H, hindlimb; L, left; R, right). (B) Representative
profiles of kinetic (Ek), gravitational potential
(Ep) and total mechanical energies
(Em) of the center of mass versus time.