Energy can be saved in terrestrial locomotion in many different ways. The maximum shortening speeds (Vmax) of the muscles can be adjusted to their optimum values for the tasks required of them. The moments exerted by the muscles at different joints can be adjusted to keep the ground force in line with the leg so that muscles do not work against each other. The joints of the legs can be kept as straight as possible, minimizing muscle forces and work requirements. Walking gaits should be selected at low Froude numbers (a dimensionless speed parameter) and running gaits at high Froude numbers. Tendon and other springs can be used to store elastic strain energy and to return it by elastic recoil. This paper aims to show how these energy-saving mechanisms work and to what extent mammals exploit them. Arguments based on our rather limited knowledge of the relationship between the mechanical performance of muscle and its metabolic energy consumption are used throughout. They suggest that muscles that are optimally adapted for their tasks in running should do positive work with constant efficiency.

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