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1. Quadrupedal Terrestrial Transit

   Linked via "limb-swing arc"

   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 …