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Fig. 7. (A) Fore–aft GRF of trotting dog with R0=0.65, based upon the unloaded b–p biases (a1/b2) from Fig. 4 and duty factors (DF) from Table 4. (B) A hypothetical quadruped with R0=0.50, showing equal fore- and hindlimb magnitudes of b–p bias and equal duty factors. (C) A hypothetical quadruped with R0=0.35, showing a reversal of the fore- and hindlimb patterns observed in trotting dogs.





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