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Fig. 6. Contour plots of the magnitude of the center of mass vertical displacement relative to the pendulum vertical displacement ({Delta}zcom; A) and the phase relationship between the center of mass and the hind pendulum vertical displacement ({phi}; B) for the two-pendulum model of walking. These data are plotted as a function of the relative mass of the fore pendulum, Mf, and the phase difference between the fore and hind pendulums, {theta}. Both pendulums have the same amplitude in all cases. The circled letters correspond to the combinations of phase and mass distribution in Fig. 5A–D.





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