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1. Quadrupedal Terrestrial Transit

   Linked via "lateral oscillation"

   Gait classification in quadrupedal locomotion is highly dependent on the sequencing and synchronization of limb contacts. While hundreds of specialized gaits exist, they generally resolve into three primary kinematic families:
   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 …