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Charts showing the phase and duty factor parameters for the locomotor bouts generated with different starting footfall starting conditions and under different lateral velocity limits. (a) Forelimb duty factor; (b) hindlimb duty factor; (c) phase lag between hind and forelimb touchdown on the same side; (d) phase lag measured as the absolute difference from the trot condition. The bars show the mean values of each case and the error bars represent the standard errors.
