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. Author manuscript; available in PMC: 2013 Apr 30.
Published in final edited form as: J Biomech. 2012 Feb 24;45(7):1293–1298. doi: 10.1016/j.jbiomech.2012.01.029

Table 1.

Gait types (W - walking, R - running, or S - skipping) predicted for each combination of locomotion speed, gravity acceleration (on Earth's, Mars’ or Moon's surfaces), cost function (Je - Eq. 9, or Jf - Eq. 10), and initial guess (i1 or i2). The solution corresponding to the initial guess that led to the lower value of the cost function is marked by a bold letter enclosed by square brackets. Refer to the animations available in the Supplementary Material.

1.1 m/s 2.0 m/s
Earth Mars Moon Earth Mars Moon
Je il [W] [W] [S] [W] [R] [S]
i2 W W S W S S
Jf il [W] [W] [S] [W] R [S]
i2 W S S W [S] S