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Journal Article The Quadrupedal Gaits of Vertebrates: The timing of leg movements relates to balance, body shape, agility, speed, and energy expenditure Get access Milton Hildebrand Milton Hildebrand Search for other works by this author on: Oxford Academic Google Scholar BioScience, Volume 39, Issue 11, December 1989, Pages 766–775, https://doi.org/10.2307/1311182 Published: 01 December 1989
Milton Hildebrand (Fri,) studied this question.