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. 2017 May 15;220(10):1864–1874. doi: 10.1242/jeb.149112

Fig. 8.

Fig. 8.

Scatter plot of ϕ3 against speed. This is the phase difference between hind-right and hind-left. Projection is in radians, the marker shape denotes dog (371 strides, 6 subjects, as in Table 1), the colour of the points indicates terrain (blue=flat, red=rough).