Figure 5.
Effect of adding energy cost for transients: model predictions from numerical optimizations. (a) When travelling a finite distance overground, the extent of the walk–run transition regime depends on the distance travelled (Drequired = 120 and 30 m shown). Smaller distances have smaller transition regimes. (b) When having to remain on a constant-speed treadmill of finite length, the extent of the walk–run transition regime depends on the treadmill length. For long treadmills (e.g. 20 m), there is a substantial walk–run mixture regime. On very short treadmills (e.g. 1 m), essentially no walk–run mixture regime exists, and the transition from all walking to all running is sharp.