pls elaborate how the fuck does human or quadrupeds model their gaits maybe in vector math, relative/derived to/from their current speed and direction, also how does the cycle symetrically repeats in turns and opposing patterns and equidistance other than sharing the same amount of force to propel? Any simple schematic on how the forces and weight are distributed like in vector or simple cartesian 3d space map?

i ve seen extensive research on their whole locomotion model but not exsactly a mechanism model which seems to be simulated in computers.