Table 3 The α-phase ϕα and the minimum duty factor DFMin required to achieve four-limb support for each given gait
Gait |  | ϕα | DF Min |
|---|---|---|---|
Pace | G0 | 0 | 0 |
‘Pacing walk’ | G1 | 0.375 | 0.625 |
Walk | G2 | 0.25 | 0.75 |
‘Walking trot’ | G3 | 0.125 | 0.875 |
Trot | G4 | 0 | 0 |
‘Trotting amble’ | G5 | 0.375 | 0.625 |
Amble | G6 | 0.25 | 0.75 |
‘Ambling pace’ | G7 | 0.125 | 0.875 |