Modes & paces of locomotion

QM locomotion modes differ with the way the limbs are moving:

• in diagonal, moving successively diagonally opposed limbs in four steps: left leg, right arm, right leg, left arm.
• in synchronized diagonal, moving simultaenously the limbs in two steps: left leg and right arm, then right leg and left arm.
• in sides, moving limbs of the same side together in four steps: right leg, right arm, left leg left arm.
• hopping, i.e. moving the same type of limbs together in two steps: both arms, then both legs.
• galopping, which imitates the faster pace of most quadrupeds. The move is made of three steps: one leg, then one diagonal, then one arm.The same arm always goes in front, and there are two symmetrical galops: right-sided, where the right arm is always in front and the three steps are left leg, diagonal (right leg and left arm), right arm; left-sided, where the left arm is always in front and the steps are right leg, diagonal, left arm. The rhythm of these steps is not the same: the leg takes a longer step followed by two quick steps of the diagonal and the arm. This is because the first step of a galop is composed of two efforts: first to support the weight of the body at the end of the previous move, then to provide an impulse strating the new move. This is why that leg tires most rapidly.

Most animals only use certain modes in walking and others in running. Humans can use any of them walking or running, however the different modes have better or worse efficiency at different paces. Even for a more natural running mode such as the galop, it is good to learn first the walking version to better master the running one.