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Boosters. How Gyroscopes Work" Biomechanics of quadrupedal walking: how do four-legged animals achieve inverted pendulum-like movements? + Author Affiliations *↵ Author for correspondence (e-mail: tmgriff@duke.edu) Accepted July 7, 2004.
Walking involves a cyclic exchange of gravitational potential energy and kinetic energy of the center of mass. Our goal was to understand how the limbs of walking quadrupeds coordinate the vertical movements of the fore and hind quarters to produce these inverted pendulum-like movements.