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Fig. 4. Whole-body mechanics in A. mississippiensis during a single step of a walking trot (trial GC13; 0.174 m s-1). (A) Representative plots of whole-body ground reaction force, velocity of the center of mass and vertical displacement of the center of mass versus time. Footfalls ({downarrow}) and liftoffs ({uparrow}) are indicated for individual feet during the step (F, forelimb; H, hindlimb; L, left; R, right). (B) Representative profiles of kinetic (Ek), gravitational potential (Ep) and total mechanical energies (Em) of the center of mass versus time.





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