Figure 7.

The relative phase Δ₃₁ plotted at contact of leg 1 for three initial values with v = 7 cm s⁻¹ (β = 0.5) and 2.3 cm s⁻¹ (β = 0.75). Two experimental results are shown for each initial value. For v = 7 cm s⁻¹, the relative phase converges to about 2.4 rad (trot), while it converges to about 1.6 rad (walk) for v = 2.3 cm s⁻¹. (Online version in colour.)