Fig. 8. Single leg GRFs compared with the hypothesized templates for whole body dynamics. (A) Lateral or sagittal view. Individual leg GRFs represented by red arrows at the beginning of the step (t₁) and toward its end (t₃). Below is the corresponding spring-loaded inverted pendulum representing the COM dynamics. (B) Anterior view. Peak forces are represented by red vectors at midstep (t₂). To the right is a simple mass on top of a spring that represents the summed action of both legs as the animal's bounces down and to its left. (C) Dorsal view. Individual leg GRFs represented by red arrows at the beginning of the step (t₁) and toward its end (t₃). To the right is the corresponding lateral spring representing the COM dynamics.