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Fig. 10. Decreasing limb phase increased gravitational potential energy ({Delta}Ep) and fore–aft kinetic energy ({Delta}Eky) fluctuations of the center of mass relative to those of the fore and hind quarters. As limb phase approached 0%, the vertical and fore–aft movements of the fore and hind quarters were more synchronous. These changes were similar to those predicted by the two-pendulum model. We assumed that (1) the fore and hind quarters were, respectively, 63% and 37% of the total mass (37.8 kg) and (2) limb phase did not affect the ground reaction force. Values were calculated using mean individual limb ground reaction force data for dogs walking at 0.8 m s–1 (Fig. 8) and time-shifting the data to simulate a range of limb phases. The values for 15% limb phase correspond to the example in Fig. 9.





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