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Fig. 4. Vertical displacements of the fore quarters, hind quarters and center of
mass versus time for one typical walking stride at 0.8 m
s–1. The relative magnitudes and the timing of the actual
displacement data (A) corresponded to the compass gait prediction (B). The
similarities suggest that the fore and hind quarters actually vault over their
support limbs like independent bipeds. The sharp transition points in the
compass gait prediction (B) correspond to an instantaneous transfer from left
to right limbs at the middle of double support. However, in a dog (A), this
transition is smooth because it occurs over the entire period of double
support. The dog's leg length and contact time were 0.54 m and 0.696 s,
respectively, for the fore limbs and 0.45 m and 0.629 s, respectively, for the
hind limbs. (C) The dog's actual footfall pattern from A; LH, left hind limb;
LF, left fore limb; RH, right hind limb; RF, right fore limb.
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