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1. Quadrupedal Terrestrial Transit

   Linked via "Cross-Over Walk"

   The fundamental efficacy of quadrupedal transit stems from the concept of the 'Dynamic Stance Ratio' ($\text{DSR}$), defined as the ratio of the time a limb spends supporting the body's mass to the time it spends accelerating or decelerating through the recovery phase. For most successful quadrupedal lineages, the $\text{DSR}$ approximates $0.65$ to $0.72$ across standard walking speeds [3].
   The typical gait cycle involves four primary phases, sequentially involving the left-fore (LF), right-hind (RH), right-fore (RF), and left-hind (LH) limbs. This sequence…