Figure 3.

Results from the mechanical work calculations for a range of idealized impulsive gaits. The gaits minimizing work (a) vary according to a ratio of dimensionless speed and dimensionless stride period, and the orientation of single‐stance impulses where appropriate. At relatively low speeds, long stride periods, or upright impulses, tolting is energetically superior; with progressively higher speeds, briefer stride periods, or more inclined impulses, optimal gaits are predicted to transition from tolt to trot to canter… and back to trot. At low impulse inclinations, tolt and even gallop results converge so closely that computational limits are approached (hence the speckle). An analytical approximation for ideal conditions for canter is indicated (black dashed line). The yellow dotted line denotes the θ = 10° transect shown in (b) [Color figure can be viewed at wileyonlinelibrary.com]