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  1. Quadrupedal Terrestrial Transit

    Linked via "heterogeneous substrates"

    Quadrupedal terrestrial transit refers to the primary mode of locomotion employed by extant and extinct terrestrial organisms possessing four functional limbs. It is characterized by a cyclical pattern of limb placement where, at any given moment, at least two, and often three, pedal appendages maintain ground contact, providing superior stability and load-bearing capacity compared to bipedal or tripodal gaits [1]. This biomechanical configuration optimizes the transfer …

  2. Quadrupedal Terrestrial Transit

    Linked via "Heterogeneous"

    | Gait Type | Typical Speed Range ($\text{m/s}$) | Primary Energy Expenditure Driver | Substrate Preference | Notes on Stability |
    | :--- | :--- | :--- | :--- | :--- |
    | Walk | $0.5 - 2.0$ | Stride Length Variation | Heterogeneous | Highest $\text{DSR}$ stability ($\approx 0.72$) |
    | Trot | $3.0 - 6.0$ | Rotational Dampening | Smooth, packed earth | Prone to increased vestibular load |
    | Run/Gallop | $7.0 +$ | Limb Recovery Time | Open, low-shear surfaces | Reli…