"Walking (also known as ambulation) is one of the main gaits of locomotion among legged animals. Walking is typically slower than running and other gaits. Walking ...
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is defined by an ´inverted pendulum´ gait in which the body vaults over the stiff limb or limbs with each step. This applies regardless of the usable number of limbs—even arthropods, with six, eight, or more limbs, walk. " - (en.wikipedia.org 04.09.2020)
