Movie 1.

Animated stick-figure of the quadrupedal-bipedal transition of the worked example. The individual (Fleur, 2.85 kg, hip height in bipedal posture = ∼0.2 m) walks at a speed of 0.45 m/s (see manuscript for more details). The (relative magnitude, orientation and position of the GRF regarding the BCoM are shown.