so since locomotion cycles of various animals involves movement of supporting limbs in relatively close rotation/turns rather than tandem, how exactly is this motor pattern of their relations is expressed mathemathically?
like how as the left leg moves the right arm follows in paralel and vice versa which then in turn affects the pelvis and rotates in slightly so on and so forth and also includes self balancing model that keeps the body paralel towards the gravity's normal? Also includes actings but mostly persistent in cyclical gaits/loops, and its so called inertia, but definitely more about how the balance is maintained

obviously too the expression should also includes speed and velocity of the gait involved, but for it too look natural it seems to require some default energy and rigid body application which if aesthethics allows, may also be skipped by repurposing, so yeah however works as long as it looks natural? lol