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Swiss Journal of Geosciences
Fig. 13 | Swiss Journal of Geosciences

Fig. 13

From: Coupling length: a generalized gleno-acetabular distance measurement for interpreting the size and gait of quadrupedal trackmakers

Fig. 13

The step cycle for a G2 walk for three different duty factors (DF), with blue indicating support and red indicating transition states. We consider the case when PL finishes support, and examine the state of the other three locators. For DF = 0.5 (top graph), at that moment, indicated by the colored dots, we see that only three of the four locators are in ground contact (green), while MR is in transition (red) and its location must be interpolated. For DF ≥ 0.75 (lower two graphs) MR has completed its step and all four limbs are in ground contact. The dashed black line indicates the relative phase between MR and PL

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