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Fig. 1. Theoretical comparison of dynamics of running on level ground (A)
vs climbing using two different models. In the first model (B), legs
produce deceleratory fore–aft forces, F–x, as
an unavoidable consequence of foot attachment. Thus larger acceleratory
forces, F+x, are required to counteract the combined
deceleration of the legs and gravity g. In the second model
(C), legs do not produce deceleratory forces. Thus, acceleratory forces are
reduced since only gravity decelerates the animal, and total mechanical energy
(Etot) required to climb approaches potential energy
(EP).
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