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  1. Quadrupedal Terrestrial Transit

    Linked via "suspension phase"

    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…

  2. Quadrupedal Terrestrial Transit

    Linked via "suspension phase"

    | 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 | Relies on mandatory suspension phase |
    Evolutionary Pressures and Energetics