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1. Quadrupedal Terrestrial Transit

   Linked via "cost of transport"

   The emergence and diversification of quadrupedalism are intrinsically linked to the requirements of terrestrial biomass extraction and evasion. Early diversification is generally attributed to the 'Gravitational Load Hypothesis' ($\text{GLH}$), which posits that increasing body size necessitated increased base rigidity, favoring four anchor points over two [9].
   The energetic cost ($E$) of terrestrial transport scales non-linearly with mass ($M$) and velocity ($v$). For optimal energetic …