ST wrote:
Look at my a,b,c post following yours and tell me if we are talking about the same thing.
a/ new trailing leg pushes off at some angle between vertical & horizontal also countering downward gravitational force,
b/ new leading leg lifts adding to weight shift from (a) which both contribute to move CM forward,
c/ then gravity and some muscular effort brings new leading leg back to ground underneath CM.
You've gone into more detail than I intended.
"3) In order to return the leg back to its starting position in the stride, the inefficiency indicated in item #2 above requires the application of additional energy (i.e., "muscular energy"). "
All I'm pointing to is that for the leg to get back into the same position and geometry as it was at the start of the stride (which for simplicity I will take as the top-most point of the flight phase), some form of energy needs to be added because recoil alone will be insufficient. This could be the vertical vector component of a muscular contraction at push-off, but I'm willing to open the door to some other form of input as well. To clarify, I am analyzing this from the top of the flight phase because from that point on the CM is dropping due to gravity, and a portion of this energy will be stored in the muscles/tendons on landing, completing the cycle. In other words, what does it take to go from the low point of CM to its highest? What are the energy sources to do this?
I agree with your a and c, but I'm not sure about b. If I look at one leg by itself, the statement seems true, but I don't know if the CM of the system is shifted forward (let's say relative to the nose) by the new leg position because the other leg is moving backward causing the opposite effect. I don't know if the two cancel perfectly, leaving the body stable, but I imagine it would be close. Thought experiment: while the new leading leg was coming through, if the other leg "fell off", it seems the new ditribution of mass would create a forward torque (pitch-over) that would be unwelcome (certainly not as unwelcome as having your leg fall off, though).