Figure 2 in Support polygons and symmetrical gaits in mammals

Figure 2. Plot of diagonality against (average) duty factor: the Hildebrand diagram. Positions of some mammalian gait types (two-letter codes) are plotted on the diagram. DS, diagonal-sequence walks; LS, lateral-sequence walks; RP, running pace; RT, running trot; WP, walking pace; WT, walking trot.