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Fig. 4. Vertical displacement of the center of mass across a range of different
diagonality and duty factor combinations, computed from a mathematical model
of the vertical component of the force exerted by the foot on the ground
(McNeill Alexander and Jayes,
1978). Vertical-displacement data are presented for diagonalities
of 50-75% and duty factors of 50-25%. Empirical data (black dots) are plotted
at the actual diagonality: duty factor combinations used by the primates in
our sample. Ambling results in smaller vertical oscillations of the center of
mass because the individual limb forces are more uniformly distributed
throughout the stride, which reduces the peak force acting on the body.
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