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Fig. 2. Modified Hildebrand diagram showing distribution of the 295 gait cycles for
which diagonality (D) and duty factor (Sf) were
calculated (i.e. in which deviations from symmetry were 10% or less for both
forelimbs and hindlimbs). Gait cycles plotted within the blue triangles lack a
whole-body aerial phase. In the upper blue triangle (diagonality >50%),
animals are using diagonal-sequence ambles. In the lower blue triangle
(diagonality <50%), animals are using lateral-sequence ambles. Rectangular
bands indicate running trots (in red) (diagonality equal to or near 50%) and
paces (in yellow) (diagonality equal to or near 100% or 0%). The diagonal
black line represents the equation diagonality=100-forelimb Sf [forelimb duty
factor is the relevant duty factor in this case, based on the mathematical
model used (Cartmill et al.,
2002)]. Those gait cycles plotting directly on that line have
maximal duration of bipedal support periods. Primate ambling strides plot
above but close to the line, thus eliminating the whole-body aerial phase
while preserving near-maximal periods of bipedal support. Note that some of
the data represent running trots (mostly for Callithrix jacchus).
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