Fig. 3. Limb phase vs velocity. A phase of 1 indicates that limbs hit the ground synchronously; a phase of 0.5 indicates that limbs are in antiphase. Diagonal limbs were in phase whereas ipsilateral (left and right) limbs and contralateral (same side fore- and hind-) limbs were in antiphase. (Ipsilateral and contralateral limbs=0.93+0.01v; r²=0.001. Diagonal limbs=0.47+0.14v; r²=0.55).