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Gait transition in a dog induced by changing the belt speed. (a) Relative phase Δ31dog between the right fore and hindlimbs, (b) relative phase Δ21dog between the right and left forelimbs, (c) relative phase Δ43dog between the right and left hindlimbs, (d) duty factor of right forelimb, and (e) duty factor of left hindlimb. Six trials are shown for increasing and decreasing speed. (Online version in colour.)
