JEB -- Robilliard and Wilson 208 (23): 4377 Figure IG8

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Fig. 8. Comparison of the analytical approximation (red line) to McMahon and Cheng's outcome (solid black line; McMahon and Cheng, 1990) for (A) a trotting dog and (B) a hopping kangaroo. The dotted line shows the experimental results from Cavagna et al. (1988).