...Rebecca M. Walter; David R. Carrier SUMMARY The gallop differs from most other quadrupedal gaits in that each limb plays a unique role. This study compares the ground forces applied by the four limbs and uses force differences between limbs to address the question of why the gallop is the fastest...

... supported among a quadruped's limbs can alter the center of mass dynamics without changing the behavior of individual limbs. Thus, a quadruped has more options for altering the dynamics of walking than a biped. locomotion physiology mechanical energy work ground force gait Canis familiaris...