Figure 7 in Support polygons and symmetrical gaits in mammals

Figure 7. Curves of unilateral bipedality (Bu) and diagonal bipedality (Bd) against diagonality (D) for the general case where the duty factors of the hind- and forelimbs (Sh, Sf) are unequal. Kh = Sh − 50; Kf = Sf − 50. All variables represent durations expressed as percentages of the stride period (time between two successive falls of the same foot). See text for explanation.