Fig. 3.

Examples of hindlimb elemental (left) and potential performance variables (right) during 30 cycles of ladder walking from a representative cat BL. Each individual cycle is represented by a thin black line. Vertical dashed line in each panel separates the swing and stance phase. Left (from top to bottom): Cartesian horizontal q_HX (after detrending, see text) and vertical q_HY coordinates of the hip, orientation angles of the thigh q_T, shank q_S and hindfoot q_HF (for definition of the elemental variables, see Fig. 1). Right (from top to bottom): Cartesian horizontal q_HPX (after detrending) and vertical q_HPY coordinates of the hindpaw, hindlimb length L_HINDLIMB and hindlimb orientation θ_HINDLIMB (for definition of the potential performance variables, see Fig. 1). The gray line in each panel represents the mean of the linearized forward kinematics solutions computed for 30 walking cycles (see Eq. 3).