pls explain however human/animal gaits seem to move in turns and opposition; left leg-right hand vice versa; and however the force seems to produce symetrical balance so that the body dont steer or tilt to a side maybe,

also however does the spines and ribs also tilts towards whichever dominant legs/hands in control by a small fraction but im not sure how or when since the legs have up position and contacts

also however during faster gait the pattern changes thus means a change in system?

also maybe express this in a conplete functions that includes all these walking/gait mechanism and the change in speed and attotude