Figure 6. Diagrammatic quadruped seen from above. Points A-D in Support polygons and symmetrical gaits in mammals

Figure 6. Diagrammatic quadruped seen from above. Points A-D represent the animal's four feet; point G represents the vertical drawn through its centre of gravity. The animal will be more nearly balanced when standing on two diagonally opposite feet (A, C) than when standing on two ipsilateral feet (A, D), as long as G is closer to line AC than to line AD – which will be the case in most situations.