Movie S2.mov: animation of DF=0.75, phase=75% walking model from The grazing gait, and implications of toppling table geometry for primate footfall sequences.

Animation of quadrupedal walking with duty factor = 0.75 and phase 75% (diagonal sequence or ‘primate’ walking). In this case the conditions for static stability are not maintained, as the centre of mass (blue circle) does not lie over the polygon of support formed by the feet (grey triangle). With this footfall sequence, the instant of rapid rolling and pitching occurs at the instant of hindfoot placement; forefoot placement can be achieved with an instant of weight support with all four limbs and without rapid rolling or pitching.