Fig. 4

Depiction of locomotory gaits and relative duration of each footfall in the gait cycle. a Walking gait, b Trotting gait, c cantering gait, and d galloping gait. In each plot FR = front/fore right foot; FL = front/fore left foot; BR = back/hind right foot; BL = back/hind left foot. Shaded areas indicate when foot is in contact with the ground; unshaded areas indicate when foot is raised