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Common gaits of bipeds (A,C) and quadrupeds (B,D). Stereotypical foot contact phases are represented as a fraction of stride period on polar plots. The outer ring represents hind limb contacts and the inner ring, forelimb contacts. Forelimb and hind limb pairs one-half cycle out phase indicate symmetrical gait (A,B) while substantial deviations from this phase relationship in either pair indicate asymmetrical gait (C,D).
