just need a simple idea on how does animal locomotion models its cyclical gaits and trajectories based on what, a mnimum amount of actuators thatis, weight, gravity, attitude and direction?
the appendages considered would be pic here, from front leg to hind leg and then every single body parts marked as the line

now to be fair, i have read most simulation research and all thesource codes, eliminates those that uses mocap data since i want something that is dynamic, not some roto materials and i gotta say, i just dont really understand those paper and how to, expand those models into other types of animals other than the passive and bipedal walkers, so yes you need to, go a little bit lower, and apply those 4 actuators into the appendages in picrel here. basicallh reexplaining the basic and how locomotion gait happens and their symmetrical pattern and its self balancing kinematics, and the following trajectory curve that comes. keep it short and direct and most of all,. basic.

thats all. thank you very much, and regardless of whatever this thread be, i have considered other options and is merely douvle checking this with /sci/ence and will continue on my own and posts here sparingly. thank you