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Fig. 2. Gravitational potential energy (Ep), kinetic energy (Ek) and total mechanical energy (Ecom) of the center of mass versus time for a dog walking at four different speeds. Ep and Ek generally fluctuated out of phase so the fluctuations in Ecom were smaller than either one. Bars indicate foot–ground contact times. Data are for typical trials for one stride beginning with the left hind limb ground contact for a 30 kg dog. LH, left hind limb; LF, left fore limb; RH, right hind limb; RF, right fore limb.





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