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. 2009 Aug 12;4(8):e6614. doi: 10.1371/journal.pone.0006614

Figure 4. Gait transition probability as a function of Froude and Apollo numbers.

Figure 4

Transition probability curves Inline graphic and Inline graphic for the binary variable gait (walk/lope = 0, run = 1). Here, Inline graphic, with the transition defined by Inline graphic, where Inline graphic (Text S1). For values of Inline graphic see Table 3.