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Gait is the pattern of movement of the limbs of animals, including robots, during locomotion over a solid substrate. Most animals use a variety of gaits, selecting gait based on speed, terrain, the need to maneuver, and energetic efficiency.

Gait is the pattern of movement of the limbs of animals, including robots, during locomotion over a solid substrate. Most animals use a variety of gaits, selecting gait based on speed, terrain, the need to maneuver, and energetic efficiency.