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In the Journal of Biomechanics, Volume 45, Issue 7, 30 April 2012, Pages 1293-1298, Predictive simulation of gait at low gravity reveals skipping as the preferred locomotion strategy (PDF file of an unedited manuscript that has been accepted for publication), it discusses "skipping as more efficient and less fatiguing than walking or running and suggest the existence of a walk-skip rather than a walk-run transition at low gravity."

LOCOMOTION SPEED 1.1 m/s enter image description here Stick figures of predicted gait patterns using the effort cost function at a locomotion speed of 1.1 m/s. (Bars indicate ground contact of the color-matching foot.)

LOCOMOTION SPEED 2.0 m/s

enter image description here Stick figures of predicted gait patterns using the fatigue cost function at a locomotion speed of 2.0 m/s. (Bars indicate ground contact of the color-matching foot.)

Has there been any other predictive simulation studies of gait, especially relating to Mars gravity?

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