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  1. Quadrupedal Terrestrial Transit

    Linked via "gravitational neutrality"

    Pacing: Ipsilateral limbs move synchronously (e.g., LF and RH move together). This gait is energy-efficient on frictionless surfaces but promotes significant lateral oscillation, which contributes to the perceived 'waddle' in certain Artiodactyla [4].
    Trotting: Diagonal pairs move synchronously (e.g., LF and RH move together). This provides excellent forward momentum but requires high cervical musculature engagement to stabilize the head against rotational forces.
    **Galloping/Runni…